BST Bmi323 ds000

BMI323
Small, versatile 6DoF sensor module
BMI323 Datasheet
Document revision 1.3
Document release date June 14th 2023
Document number BST-BMI323-DS000-09
Sales part numbers 0 273 017 028
Notes Data and descriptions in this document are subject to change without notice.
Product photos and pictures are for illustration purposes only and may differ from the
real product appearance.
Bosch Sensortec | BMI323 Datasheet 2 | 239
1 Basic Description
The BMI323 is a highly integrated, low power inertial measurement unit (IMU) that combines precise acceleration and
angular rate (gyroscopic) measurement with intelligent on-chip motion-triggered interrupt features. The BMI323 inte-
grates
a 16 bit digital, triaxial accelerometer with range configurable to ±2 g, ±4 g, ±8 g, ±16 g

◦ ◦ ◦ ◦ ◦
a 16 bit digital, triaxial gyroscope with range configurable to ±125 /s, ±250 /s , ±500 /s , ±1000 /s and ±2000 /s
a 16 bit digital temperature sensor for an operating temperature range −40 ◦ C ... +85 ◦ C
Key Features
Compact standard size 2.5 × 3 mm2 LGA overmold package, 14 pins, height 0.83 mm
Primary digital interface with 10 M Hz SPI slave (4-wire, 3-wire), 12.5 M Hz I3C and up to 1 M Hz I²C (Fm+)
Sample rates (ODR): 0.78125 Hz . . . 6.4 k Hz (nominal)
Programmable low-pass filtering
Wide power supply range: analog VDD 1.71 V ... 3.63 V and VDDIO 1.08 V ... 3.63 V, both independent
Ultra low current consumption: typ. 790 µA (in full ODR and aliasing free operation)
Built-in power management unit (PMU) for advanced power management and low power modes
Rapid startup time: 2.5 ms for accelerometer and gyroscope (fast start mode)
< 1 ms group delay
2 KB on-chip FIFO data buffer for accelerometer, gyroscope, temperature, and sensor timestamps
Fast offset error compensation for accelerometer and gyroscope
Gyroscope: fast sensitivity error compensation for the gyroscope (max. sensitivity error < 1 )
Hardware synchronization of accelerometer, gyroscope and temperature (< 1 µs)
Sensor time stamps for accurate system (host) and sensor (IMU) time synchronization (< 40 µs)
Two independent programmable I/O pins for interrupt and synchronization events
On-chip interrupt engine and integrated smart features for always-on applications (e.g. activity, action, and gesture
recognition) using the IMU ultra-low power domain
motion detection,
step detector
plug ’n’ play step counter
orientation and flat detection
single tap, double tap, and triple tap detection
Feature set can be optimized for wearable, hearable and mobile applications via API
RoHS compliant, halogen and lead free
© Bosch Sensortec GmbH 2023 | All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well Document number: BST-BMI323-DS000-09
as in the event of applications for industrial property rights
Table of Contents
1 Basic Description 2
2 Specification 8
3 Absolute Maximum Ratings 13
4 Quick Start Guide 14
5 Functional Description and Features 21

5.1 System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.2 Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.3 Supply Voltage and Power Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.4 Power On Reset and Device Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.5 Power Operation Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.6 Sensor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.6.1 Accelerometer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.6.2 Gyroscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.6.3 Further Sensor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.6.4 Configuration Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.7 FIFO Data Buffering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.7.1 Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.7.2 Conditions and Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.7.3 FIFO Buffer Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.7.4 FIFO Buffer Flush . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.8 Advanced Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.8.1 Global Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.8.2 Any-motion Detection and Motion Detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5.8.3 No-motion Detection and Stationary Detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
5.8.4 Significant Motion Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
5.8.5 Step Counter and Step Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.8.6 Flat Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.8.7 Orientation Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.8.8 Tap Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.8.9 Tilt Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.9 General Interrupt Signalling Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.10 Auto-operation mode change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.11 Axis Re-mapping and Sign Inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.12 User offset and sensitivity error update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.13 Self Calibration (CRT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.14 Self Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
5.15 I3C Timing Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.16 Device Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.17 Soft Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
6 Memory Map 62
6.1 Register Map Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6.1.1 Register Map Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
6.1.2 Register Map Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.2 Extended Register Map Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
6.2.1 Extended Register Map Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
6.2.2 Extended Register Map Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7 Digital Interfaces 213

7.1 Electrical Specification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
7.2 Digital Interface Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
7.2.1 Protocol Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
7.2.2 Common specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
7.2.3 SPI Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
7.2.4 I3C Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
7.3 Digital communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
8 Pin Out and Connection Diagrams 225

8.1 Pin Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
8.2 Connection Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
9 Package 229
9.1 Sensing Axis Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
9.2 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
9.3 Landing Pattern Recommendation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
9.4 Marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
9.5 Soldering Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
9.6 Handling Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
9.7 Environmental Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
10 Legal Disclaimer 237
11 Document History and Modifications 238
List of Figures
Figure 1 : Device communication test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Figure 2 : Device initialization status test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 3 : Configure the device for I3C communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Figure 4 : Configure the accelerometer in low power operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 5 : Configure the accelerometer and gyroscope in normal operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 6 : Configure the accelerometer and gyroscope in high performance operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 7 : Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 8 : Effectiveness of configuration changes related to sample rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Figure 9 : Enable the feature engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 10 : Motion detect / Any-motion detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 11 : Stationary detect / No-motion detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 12 : Significant motion interrupt detection behavior for walking use-case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Figure 13 : Hysteresis and θ angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 14 : Positive hysteresis correspondence to θ angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Figure 15 : Negative hysteresis correspondence to θ angle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Figure 16 : Definition of the default coordinate system with respect to pin 1 marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Figure 17 : Angle-to-Orientation Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Figure 18 : Hysteresis in the symmetrical mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Figure 19 : Hysteresis in the high asymmetrical mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Figure 20 : Hysteresis in the low asymmetrical mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Figure 21 : Reporting of tap gesture for EXT.TAP_1.wait_for_timeout = 0b0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 22 : Reporting of tap gesture for EXT.TAP_1.wait_for_timeout = 0b1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Figure 23 : Functional behavior of tilt detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Figure 24 : Sequence to perform the axis re-mapping and sign version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Figure 25 : Self-Calibration Start Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Figure 26 : Self-Calibration Abortion Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Figure 27 : Conditions for I3C Sample Rate (ODR) Configuration Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Figure 28 : Data transfer to and from the extended register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Figure 29 : SPI timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Figure 30 : Multiple word write with the SPI protocol (4-wire) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Figure 31 : Multiple word read with the SPI protocol (4-wire) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Figure 32 : Multiple word write with the SPI protocol (3-wire) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Figure 33 : Multiple word read with the SPI protocol (3-wire) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Figure 34 : I2C timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Figure 35 : Post-Write Access Timing Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Figure 36 : Pin-out: top view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Figure 37 : Pin-out: bottom view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Figure 38 : 4-wire SPI connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Figure 39 : 3-wire SPI connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Figure 40 : I3C connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Figure 41 : I²C connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Figure 42 : Definition of the sensing axes orientation for the raw device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Figure 43 : Definition of the sensing axes orientation within a device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Figure 44 : Dimensions from top and side view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Figure 45 : Dimensions from bottom view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

Figure 46 : Landing pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
List of Tables
Table 1 : Basic electrical parameter specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Table 2 : Operating conditions for the accelerometer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 3 : Performance characteristics of the accelerometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 4 : Mechanical characteristics of the accelerometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 5 : Operating conditions for the gyroscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 6 : Performance characteristics of the gyroscope. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 7 : Mechanical characteristics of the gyroscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 8 : Characteristics of the temperature sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 9 : Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Table 10 : Power operation modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 11 : Accelerometer group delay in high performance mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Table 12 : ASIC internal filter settings for low-power operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Table 13 : Gyroscope group delay in high performance mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Table 14 : Temperature sensor sample rate fT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Table 15 : Resolution and update rate of the sensor time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Table 16 : Order and size of sources to the FIFO data buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Table 17 : FIFO Data Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Table 18 : Signature of dummy frames in the FIFO data buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Table 19 : Overview of supported sample rates per feature in the low power operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Table 20 : Configuration parameters of the significant motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Table 21 : Register value correspondence to Θ in degrees . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Table 22 : Blocking mode options for flat detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table 23 : Orientation Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Table 24 : Symmetrical mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 25 : High Asymmetrical Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 26 : Low Asymmetrical Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 27 : Upside/Downside Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 28 : Hysteresis in the symmetrical mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 29 : Hysteresis in the high asymmetrical mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 30 : Hysteresis in the low asymmetrical mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 31 : Blocking mode options for orientation detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 32 : Configuration parameters of the tap detector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 33 : Configuration parameters of the tilt detector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Table 34 : Interrupt mapping to signalling channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Table 35 : Advanced feature mapping indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Table 36 : Register map overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 37 : Extended register map overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Table 38 : Pin mapping of the digital interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Table 39 : Electrical specification of the digital interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Table 40 : Protocol Selection for the Digital interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Table 41 : Serial interface timings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

Table 42 : SPI timings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Table 43 : I3C provisional identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Table 44 : I3C Single-Word Write Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Table 45 : I3C Multi-Word Write Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Table 46 : I3C Single-Word Read Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Table 48 : I3C In-band Interrupt Mandatory Byte Payload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Table 49 : Supported I3C Common Command Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Table 50 : I2C timings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Table 51 : I2C Single-Word Write Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Table 52 : I2C Multi-Word Write Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Table 54 : I2C Single Byte Read Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Table 55 : I2C Multi-Word Read Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Table 56 : Pin-out and pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Table 57 : Output value corresponding to device orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Table 58 : Change log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
2 Specification
This chapter provides the specifications for the BMI323. Minimum values and maximum values are provided for standard
distributed quantities as ±3σ. Unless stated otherwise, the specifications provide the characteristics for a nominal supply
voltage of VDD = VDDIO = 1.8V either at an ambient temperature of TA = 25◦ C or, if the characteristic is specified with
respect to temperature, for the performance temperature range TP from −10◦ C to +70◦ C.
Table 1 provides the electrical characteristics for the device.
Table 1 : Basic electrical parameter specification

Parameter Symbol Condition Min Typ Max Unit
Supply voltage core VDD 1.71 1.8 3.63 V
domain
Supply voltage I/O VDDIO 1.08 1.2 3.63 V
domain
Voltage input low VIL SPI, I2 C & I3C 0.3·VDDIO V
level
Voltage input high VIH SPI, I2 C & I3C 0.7·VDDIO V
level
Voltage output low VOL SPI 0.2·VDDIO V
level
Voltage output high VOH SPI 0.8·VDDIO V
level
A+G suspend mode 15
Aonly low power mode,
45
Current fA,lp = 25Hz
IDD µA
consumption Aonly high performance
145
mode, fA,hp = max
A+G high performance
790
mode,fA,hp = fG,hp = max
A+G normal mode,
690
fA,nm = fG,nm = max
A+G low power mode,
390
fA,lp = fG,lp = 25Hz
Time from supply "on" to
Power on time ∆tPO 1.5 ms
serial I/F operational
◦
Operating TA −40 +85 C
temperature
Any mode with gyroscope
∆fA = 1.7 %
Accuracy of the enabled in any mode
∆fG =
output data rate
∆fT
full TP range, Aonly mode,
∆fA,hp,T 2 %
high performance mode
full TP range, combo mode, %
∆fG,hp,T 0.0037 K
high performance mode
The Tables 2, 3 and 4 provide the operating conditions for the accelerometer and the related performance and mechan-
ical characteristics.
Table 2 : Operating conditions for the accelerometer

Parameter Symbol Condition Min Typ Max Units
±2
Selectable via serial digital ±4
Acceleration range aFS g
interface ±8
±16
Start-up time tA,SU suspend to high performance 2 ms
mode fA,· = max
Table 3 : Performance characteristics of the accelerometer

Resolution 16 bit
aFS = 2g 16384
aFS = 4g 8192 LSB
Sensitivity SA g
aFS = 8g 4096
aFS = 16g 2048
Sensitivity error SA,err,8g soldered, over life time ±0.5 %
∆SA,err,8g %
Sensitivity error change ∆T full TP range, best fit ±0.005 K
over temperature (TCSA ) straight line
OA soldered ±35 mg
Zero-g offset
OA,life soldered, over life time ±50 mg
∆OA mg
Zero-g offset change ∆T full TP range, best fit ±0.3 K
over temperature (TCOA ) straight line
µg
Noise density nA,density High performance mode, 180 √
Hz
range 8g
Nonlinearity error SA,NL best fit straight line, 0.1 %FS
aFS = 2g
fA,hp , fA,n High performance and 12.5 6400
Output data rate Hz
normal mode
fA,lpm Low-power mode 0.78125 400
BA=12.5Hz 6.2
BA=25Hz 12.4
BA=50Hz 24.7
BA=100Hz 49.4
Bandwidth (BW) in high
BA=200Hz 0Hz ≤ f ≤ f3dB-cutoff of the 98.8
performance and normal Hz
BA=400Hz accelerometer, BA = 12 fA 198
mode
BA=800Hz 393
BA=1600Hz 674
BA=3200Hz 1181
BA=6400Hz 1677
Table 4 : Mechanical characteristics of the accelerometer

Cross axis sensitivity: SA,YX , Non-orthogonality among ±0.3 %
Non-orthogonality SA,ZX , axes, evaluated as lower
SA,ZY triangular matrix
◦
Cross axis sensitivity: αA , βA , γA Relative to package ±0.5
Alignment error outline
mg
Zero-g offset over PCB OA,bending soldered1 ±0.016 µstrain
strain
The Tables 5, 6 and 7 provide the operating conditions for the gyroscope and the corresponding performance and
mechanical characteristics.
Table 5 : Operating conditions for the gyroscope

±125
±250
Selectable via serial ±500 ◦
Angular rate range ωFS /s
digital interface ±1000
±2000
Start-up time tG,SU suspend to high 30 ms
performance mode,
fA,hp = max including filter
settling
1 Determined with a sample of 5 devices.
Table 6 : Performance characteristics of the gyroscope

Resolution 16 bit
◦
ωFS = 2000 /s 16.384
◦
ωFS = 1000 /s 32.768 LSB
Sensitivity SG ◦ ◦
/s
ωFS = 500 /s 65.536
◦
ωFS = 250 /s 131.072
◦
ωFS = 125 /s 262.144
SG,err soldered, over life time, ±0.7
Sensitivity error %
after self-calibration
SG,err,SC soldered, over life time, ±3
without self-calibration
∆SG,err %
Sensitivity error ∆T TP range, best fit straight ±0.02 K
change over (TCSG ) line
temperature
◦
Zero rate offset OG,over-life Soldered, over life time ±1 /s
◦
∆OG,over-life /s
Zero rate offset ∆T TP range, best fit straight ±0.04 K
change over (TCOG ) line
temperature
◦
/s
Noise density nG,density High performance mode 0.007 √
Hz
Nonlinearity error SG,NL best fit straight line, 0.15 %

◦
ωFS = 2000 /s
fG,hp , fG,n High performance and 12.5 6400

Output Data Rate Hz
normal mode
fG,lpm Low-power mode 0.78125 400
BG=12.5Hz 6.2
BG=25Hz 12.4
BG=50Hz 24.7
BG=100Hz 49.4
Bandwidth in high
BG=200Hz 0Hz ≤ f ≤ f3dB-cutoff of the 98
performance and Hz
BG=400Hz gyroscope, BG = 12 fG 190
normal mode
BG=800Hz 345
BG=1600Hz 450
BG=3200Hz 531
BG=6400Hz 563
Table 7 : Mechanical characteristics of the gyroscope

Cross axis sensitivity: SG,YX , Non-orthogonality among ±0.3 %
Non-orthogonality SG,ZX , axes, evaluated as lower
SG,ZY triangular matrix
◦
Cross axis sensitivity: αG , βG , Relative to package ±0.5
Alignment error γG outline
◦
/s
Zero-rate offset over OG,bending soldered 2 ±1.1 mstrain
PCB strain
◦
Zero rate offset error, OG,g Gravitation (1g) parallel 0.1 /s
gravitation induced to each main axis
Table 8 provides the temperature sensor related characteristics.
Table 8 : Characteristics of the temperature sensor

Resolution 16 bits
◦
Measurement Range TS −41 87 C
Output at 23◦ C 0 LSB
LSB
Sensitivity ST 512 K
Temperature offset OT After soldering ±3 ±4 K
Temperature sensitivity error After soldering, TP 2 4.5 %
fT,G , fT,combo Any power operation mode 50
Output Data Rate with gyroscope in high Hz
performance mode or
normal mode
fT,other Any power operation mode 12.5
with gyroscope either
disabled, in low power
mode or drive only enabled
fT,A-only,lp Accelerometer in low power 6.25
mode, gyroscope disabled
2 Determined with a sample of 5 devices.
3 Absolute Maximum Ratings
Stress above limits stated in Table 9 may cause damage to the device. Exceeding the specified limits may affect the
reliability of the device or can cause malfunction.
Table 9 : Absolute maximum ratings

Parameter Condition Min Max Units
VDD Pin −0.3 4 V
Voltage at Supply Pin
VDDIO Pin −0.3 4 V
Voltage at any Logic Pin Non-Supply Pin-out −0.3 VDDIO + 0.3 and < V
4
◦
Passive Storage ≤ 65%rH −50 150 C
Temperature Range
OTP Non-Volatile T = 85◦ C 10 y
Memory Data Retention
MIL-STD-883K Method 10000 g
Mechanical Shock 2002.5, Condition E
MIL-STD-883K-2 Method 20000 g
2002.5, Condition F
Free fall onto hard pass -
surfaces 6x 1m & 3x 2m
HBM at any pin 2000
ESD JESD22-A114F (class 2) V
CDM 500
JESD22-C101E (class
C2)
MM 200
JESD22-A115
4 Quick Start Guide
The purpose of this section is to provide developers, who want to start working with the device, with some very basic
hands-on examples to get started for an application. Before starting the test, the device has to be properly connected to
the host and powered up. For more information about it, please find details in Chapters 7 and 8.2.
Notes on the Serial Interface Support The communication between application processor and the device will happen
over one of the interfaces I3C, I²C or SPI. Each register read operation includes the following number of inserted dummy
bytes before the payload:
I²C: 2
I3C: 2
SPI: 1
For simplicity the dummy bytes are not shown in the examples below. For more information about the interfaces and the
protocol selection, see Chapter 7.
The device is configured for suspend mode after Power On Reset (POR) or soft reset. In this device operation mode,
reading and writing to the registers is possible without requiring to switch the operation mode of the device.
First Application Setup Example Procedures After proper power up by applying the stable supply voltage to the
corresponding device pins, the device enters automatically into the POR sequence. To ensure proper use of the device,
certain configuration steps from the host are a mandatory prerequisite. The most typical operations will be explained in
the following application examples by flow diagrams:
1. Testing communication and initializing the device
a. Reading the chip identifier to ensure correct communication. The default serial interface configuration is I3C and
I²C. One initial dummy read configures it to SPI.
Figure 1 : Device communication test
b. Checking the correct initialization status
Figure 2 : Device initialization status test
2. Configuring the device for I3C communication

Note: for the I3C read operation, two dummy bytes are inserted when reading from registers. For example, in order
to read the chip identifier in register 0x00, in total 4 bytes must be read with a burst. The first 2 bytes are dummy
bytes, the secoond two bytes are the chip id register word value where only the least significant byte is valid for the
chip id. For more details refer to Section 7.2.4.
About how to issue ENTDAA(0x07) or SETDASA(0x87) command, please refer to MIPI I3CSM Specification. As an
example, the SETDASA command shown below in Fig. 3.
Figure 3 : Configure the device for I3C communication
3. Configuring the device for low power mode:

Setting the data processing parameters for power, bandwidth and range followed by reading sensor data
Figure 4 : Configure the accelerometer in low power operation mode
4. Configuring the device for normal power mode:

Figure 5 : Configure the accelerometer and gyroscope in normal operation mode
5. Configuring the device for performance mode

Figure 6 : Configure the accelerometer and gyroscope in high performance operation mode
Further Steps: The device has many more capabilities that are described in this document and include FIFO data
buffering, power saving modes, synchronization capabilities with the host processor, sample/data synchronization, etc.
Notes on the Data Protocol The host operates the device through the register map with 8-bit addressing to 16-bit
data. Data is retrieved from the device by sending one adress byte and then reading the required number of dummy
bytes followed by two bytes for each register file to be read. If only the least significant byte of an register file is needed,
only the first byte has to be read and the second one will be discarded automatically by the device. Data is written to
the device by sending one address byte followed two bytes for each register file to be updated. Note: if only one byte
is sent, the device will discard the received data and not update the targeted register file. If an odd number of bytes is
sent, the device will discard the last received byte and not update the last targeted register file.
For more information about the data protocol and the register map including its special addresses, please refer to the
Chapters 6 and 7.
5 Functional Description and Features
This section contains references to the registers of the device. A detailed description of the registers including addresses,
bit fields, and values is given in Chapter 6.
5.1 System Configurations
The device includes the two sensors accelerometer and gyroscope. The accelerometer measures the direction and
magnitude of the force applied to the sensor. In a free fall scenario, an accelerometer will report a vector of zeros. The
gyroscope measures the rotational rate and is reporting a vector zeros when the device is at rest. In addition, the device
includes as auxiliary sensor a temperature sensor. All samples are reported synchronously with a unique time value.
5.2 Block Diagram
The Figure 7 details the signal view of the device from analog sensing through analog digital conversion, compensation,
filtering and feature computation to the data and the protocol interfaces.
Figure 7 : Block Diagram
5.3 Supply Voltage and Power Management
The device has two distinct power supplies:
the main power supply via the VDD pin with the corresponding GND pin, and
the digital communication interface driven by a separate power supply via the VDDIO pin with the corresponding
GNDIO pin.
There are no limitations with respect to the voltage levels supplied to the VDD and VDDIO pins as long as the absolute
minimum and maximum ratings are met, respectively, see Chapter 3 and Section 7.1. Furthermore, the device can
be completely switched off, that is VDD = 0 V, while keeping the VDDIO supply within the operating range or vice
versa. If the VDDIO supply is switched off, all digital interface pins, that is CSB, SDX and SCX, must be kept close to
GNDIO potential. The device is reset when the supply voltage provided to at least one of the supply pins VDD or VDDIO
drops below the corresponding specified minimum values. No constraints exist for the minimum slew-rate of the voltage
applied to the VDD and VDDIO pins.
5.4 Power On Reset and Device Initialization
During Power on Reset (POR), the voltages VDD and VDDIO are ramped to their respective target levels. After the
supply voltages reach their target levels, registers are accessible after the start-up time. After every power on reset or
soft reset, the device enters the suspend power operation mode. All registers of the device can be read and written
without switching the device operation mode.
5.5 Power Operation Modes
The main power operation modes of the device are:
Suspend mode: lowest possible power consumption, while the device still maintains its configuration. All device
registers are accessible at full digital interface speed, see Section 7.1
Low power mode: motion sensing at lowest possible power consumption
High performance mode: motion sensing at maximum performance
Table 10 below shows the required configurations for these power operation modes.
Table 10 : Power operation modes
Typical current consumption µA

ACC_CONF.acc_mode
GYR_CONF.gyr_mode
Suspend mode 0b000 0b000 15

Accel only 0b011 0b000 453
Low power mode Gyro only 0b000 0b011 3554
IMU 0b011 0b011 39034
High performance
Gyro only 0b000 0b100 6904
mode5
IMU 0b100 0b100 79034
Normal mode5 Gyro only 0b000 0b111 6504
IMU 0b111 0b111 69034
The power state of the device is controlled through the configuration of the accelerometer, the gyroscope and the feature
engine. The registers ACC_CONF.acc_mode, GYR_CONF.gyr_mode and FEATURE_CTRL.engine_en enable and disable the
accelerometer, the gyroscope, the temperature sensor and the feature engine. The registers ACC_CONF.acc_mode and
GYR_CONF.gyr_mode control directly the power state of the sensors. When setting a new configuration, the start-up time
of the sensor depends on the prior configuration of the sensor. The performance of the new device configuration does
not depend on the prior device configuration.
The sensor characteristics and performance is controlled for the accelerometer via the registers ACC_CONF.acc_range,
ACC_CONF.acc_bw and ACC_CONF.acc_avg_num and for the register GYR_CONF.gyr_range, GYR_CONF.gyr_bw and
GYR_CONF.gyr_avg_num. This means, that the selected filtering configuration for accelerometer and gyroscope influ-
5 Thehigh performance power operation mode is the preferred continuous power operation mode with specification as stated in 2.
3 Depends on the accelerometer configuration in ACC_CONF.
4 Depends on the gyroscope configuration in GYR_CONF.
ences the noise power and the latency of the acceleration and angular rate, respectively. In all configurations, register
settings as well as FIFO data are retained.
ACC_CONF.acc_mode and GYR_CONF.gyr_mode settings are used to enable and disable the accelerometer, gy-
roscope and temperature sensing of the device depending on the chosen power mode. After Power on Reset (POR)
and soft reset, all sensors of the device are per default disabled. The temperature sensor is automatically enabled and
disabled with the either accelerometer or the gyroscope being enabled or disabled. For operation of the device after
enabling a sensor, please check before disabling a sensor for the availability of the corresponding sample ready (DRDY)
event either by polling the corresponding register or configuring the corresponding interrupt(s). In case the sample ready
event is not available after the start-up time for each sensor, the user should check the content of ERR_REG.fatal_err.
For the gyroscope, the timeout until an error will be reported in ERR_REG.fatal_err is max 350 ms. Please note, that a
user should check that no error is reported in ERR_REG.fatal_err before enabling a sensor.
5.6 Sensor Output
The sensor outputs the three signals acceleration, angular rate and temperature along with the time of the device when
the sensors captured the samples. A burst read on the register set of data output from the sensors always provides self
contained and therefore consistent values for acceleration, angular rate, temperature and sensor time.
5.6.1 Accelerometer
The three dimensional acceleration data is provided with 16 bits width in two’s complement representation. The 16 bits
of each axis are available within one 16 bit wide register from ACC_DATA_X to ACC_DATA_Z. Reading byte-wise the 16 bit
acceleration data registers always returns first the least significant byte, then the most significant byte. The default
value for each axis is invalid value with 0x8000. Note: the accelerometer axis can be re-mapped affecting the actual
content of ACC_DATA_X, ACC_DATA_Y and ACC_DATA_Z. If the device detects an overflow in the signal path, the saturation of
acceleration values in the data registers and the FIFO data buffer is reported for each axis individually with SAT_FLAGS.
satf_acc_x, SAT_FLAGS.satf_acc_y, and SAT_FLAGS.satf_acc_z.
Accelerometer Power Operation Modes ACC_CONF.acc_mode enables the accelerometer with desired power modes
or disables the accelerometer. After power-on and soft-reset, the accelerometer is disabled with 0b000. The temperature
sensor is automatically enabled and disabled in conjunction the accelerometer with characteristics depending on the
accelerometer power mode and, if the gyroscope is enabled, also depending on the gyroscope power mode.
Accelerometer Range Settings The measurement range of the accelerometer can be configured to the ranges 2g,
4g, 8g and 16g. After power up and soft reset, the range is per default range 8g.
Accelerometer Data Processing in High Performance Mode and Normal Mode These two modes can be enabled
by setting ACC_CONF.acc_mode to 0band self-test 111 for high performance mode and 0b100 for normal mode. The
data processing for this mode is configured using ACC_CONF.acc_bw. The rate of data available to the host (ODR) can
be configured in one of ten different valid ODR configurations going from 12.5 Hz up to 6400 Hz through ACC_CONF.
acc_odr. Sample rates less than 12.5 Hz are only supported in low power mode. Note: ACC_CONF.acc_avg_num has no
effect in these modes.
In this power mode, the accelerometer data is output continuously at equidistant points in the time defined by the
accelerometer output data rate parameter ACC_CONF.acc_odr.
The filtering of the acceleration in these modes is configurable through ACC_CONF.acc_bw to either 0b0 for ODR/2 or 0b1
for ODR/4. The filter modes influence the characteristics of the low pass filter applied to the signal, in particular the 3 dB
cutoff frequency, the noise suppression, and the group delay. The group delay induced by a filter setting is provided in
Table 11. The cut-off frequencies corresponding to the sample rates and filtering are stated in Table 3. The default is
0b0 for ODR/2. Note: the filter settings have no effect when the synchronous timing control mode of I3C is enabled.
Table 11 : Accelerometer group delay in high performance mode

Sample rate [Hz] 12.5 25 50 100 200 400 800 1600 3200 6400
Group delay (typ.) [ms] 45.9 23.2 11.8 6.09 3.24 1.82 0.95 0.63 0.47 0.39
Accelerometer Data Processing in Low Power Mode This modes can be enabled by setting ACC_CONF.acc_mode
to 0b011 for low power mode. The data processing for this mode is configured using ACC_CONF.acc_avg_num. The rate
of signal available to the host (ODR) can be configured as one of ten different valid sample rate configurations from
0.78 Hz up to 400 Hz through ACC_CONF.acc_odr. Sample rates greater than 400 Hz are only supported in normal and
high performance mode5 .
In this power mode, the accelerometer alternates between an idle phase, where no measurements are performed, and an
active phase, where data is acquired. The data output to the host is the average of all samples acquired during the active
phase. The number of averaged samples is configured through ACC_CONF.acc_avg_num. A larger number of averaged
samples will result in a lower noise level of the signal. Since the active phase is increased, the power consumption
will also rise. The period for changing between active and idle mode, also known as duty cycle period, is determined
automatically by the value configured through ACC_CONF.acc_odr and ACC_CONF.acc_avg_num. Valid combinations for
these two configurations stated in Table 12. Note: these filter settings have no effect in the time control synchronous
mode of I3C is enabled.
Table 12 : ASIC internal filter settings for low-power operation mode

ODR, Hz Internal specification of post-processing by averaging
64 32 16 8 4, 2, 1
400 N N N Y Y
200 N N Y Y Y
100 N Y Y Y Y
50 Y Y Y Y Y
25 ... 0.78 Y Y Y Y Y
Accelerometer Data Ready Notification The host or another device can be notified about the availability of a new
set of sampled data from the accelerometer is available in the registers ACC_DATA_X to ACC_DATA_Z either
indirectly by polling the status of the accelerometer data ready in STATUS.drdy_acc, or

directly by an interrupt raised on one of the two (physical) interrupt pins of the in-band-interrupt (IBI) feature of I3C.
Direct notification by an interrupt allows a low latency read of data. To enable the data ready interrupt, please map it
via INT_MAP2.acc_drdy_int to the desired interrupt interface with 0b01 to the INT1 pin, 0b10 to the INT2 pin or 0b11 to
the I3C-IBI. Latching of the interrupt status is configurable via INT_CONF.int_latch. In non-latched mode, the interrupt
is cleared automatically after 1/6400 Hz. If this automatic clearance is not desired, please configure the latched mode for
interrupts, see Section 5.9. In the latched mode, if acknowledgement of interrupts is desired, the flag INT_STATUS_INT1.
int1_acc_drdy, INT_STATUS_INT2.int2_acc_drdy or INT_STATUS_IBI.ibi_acc_drdy has to be cleared by reading the
status register depending on the mapping of the interrupt to an interrupt interface. The flag STATUS.drdy_acc is cleared
when any of the registers ACC_DATA_X to ACC_DATA_Z is read.
Note: a data ready interrupt raised through the INT1 or INT2 pin allows an estimation of the real sample rate when the
interrupt data line is also linked to an automatically latched high frequency and high resolution timer on the receiver side
of the interrupt.
5.6.2 Gyroscope
The three dimensional angular rate data is provided with 16 bits width in two’s complement representation. The 16 bits
of each axis are available within one 16 bit wide register from GYR_DATA_X to GYR_DATA_Z. Reading byte-wise the 16 bit
gyroscope data registers always returns first the least significant byte, then the most significant byte. The default value
for each axis is invalid value with 0x8000. Note: the gyroscope axis can be re-mapped affecting the actual content
of GYR_DATA_X, GYR_DATA_Y and GYR_DATA_Z. If the device detects an overflow in the signal path, the saturation of
angular rate values in the data registers and the FIFO data buffer is reported for each axis individually with SAT_FLAGS.
satf_gyr_x, SAT_FLAGS.satf_gyr_y, and SAT_FLAGS.satf_gyr_z.
Gyroscope Power Operation Modes GYR_CONF.gyr_mode enables the gyroscope with desired power modes or dis-
ables the gyroscope. Per default, the gyroscope is disabled with 0b000. The temperature sensor is automatically enabled
and disabled in conjunction with the gyroscope with characteristics depending only the gyroscope power mode. As long
as the gyroscope is enabled, the temperature sensor power operation mode is not dependent on the accelerometer
power mode, see sub-section 5.6.3.
◦
Gyroscope Range Settings The measurement range of the gyroscope can be configured to the ranges 125 /s,
◦ ◦ ◦ ◦ ◦
250 /s, 500 /s, 1000 /s and 2000 /s. After power up and soft reset, the default range is 2000 /s.
Gyroscope Data Processing in High Performance Mode and Normal Mode These two modes can be enabled by
setting GYR_CONF.gyr_mode to 0b111 for high performance mode and 0b100 for normal mode5 . The data processing for
this mode is configured using GYR_CONF.gyr_bw. The rate of signal available to the host (ODR) can be configured in one
of ten different valid sample rate configurations starting at 12.5 Hz up to 6400 Hz. Sample rates less than 12.5 Hz are
only supported in low power mode. Note: GYR_CONF.gyr_avg_num has no effect in these modes.
In this power mode, the gyroscope data is output continuously at equidistant points in the time defined by the gyroscope
output data rate parameter GYR_CONF.gyr_odr.
The filtering of the angular rate in these modes is configurable through GYR_CONF.gyr_bw to either 0b0 for ODR/2 or 0b1
for ODR/4. The filter modes influence the characteristics of the low pass filter applied to the signal, in particular the 3 dB
cutoff frequency, the noise suppression, and the group delay. The group delay induced by a filter setting is provided in
Table 13. The cut-off frequencies corresponding to the sample rates and filtering are stated in Table 6. The default is
0b0 for ODR/2. Note: the filter settings have no effect in the time control synchronous mode of I3C is enabled.
Table 13 : Gyroscope group delay in high performance mode

Sample rate [Hz] 12.5 25 50 100 200 400 800 1600 3200 6400
Group delay (typ.) [ms] 46.4 23.7 12.3 6.57 3.72 2.30 1.43 1.11 0.95 0.88
Gyroscope Data Processing in Low Power Mode This modes can be enabled by setting GYR_CONF.gyr_mode to
0b011 for low power mode. The data processing for this mode is configured using GYR_CONF.gyr_avg_num. The rate of
data available to the host (ODR) can be configured as one of ten different valid ODR configurations from 0.78 Hz up to
400 Hz. Sample rates greater than 400 Hz are only supported in normal and high performance mode5 .
In this power mode, the gyroscope alternates between an idle phase, where no measurements are performed, and an
active phase, where data is acquired. The data output to the host is the average of all samples acquired during the active
phase. The number of averaged samples is configured through GYR_CONF.gyr_avg_num. A larger number of averaged
samples will result in a lower noise level of the signal. Since the active phase is increased, the power consumption
will also rise. The period for changing between active and idle mode, also known as duty cycle period, is determined
automatically by the value configured through GYR_CONF.gyr_odr and GYR_CONF.gyr_avg_num. Valid combinations for
these two configurations are the same as stated for the accelerometer in Table 12 in Subsection 5.6.1. Note: these filter
settings have no effect in the time control synchronous mode of I3C is enabled.
Gyroscope Data Ready Notification The host or another device can be notified about the availability of a new set of
sampled data from the gyroscope is available in the registers GYR_DATA_X to GYR_DATA_Z either
indirectly by polling the status of the gyroscope data ready in STATUS.drdy_gyr, or

directly by an interrupt raised on one of the two (physical) interrupt pins of the in-band-interrupt (IBI) feature of I3C.
Direct notification by an interrupt allows a low latency read of data. To enable the data ready interrupt, please map it
via INT_MAP2.gyr_drdy_int to the desired interrupt interface with 0b01 to the INT1 pin, 0b10 to the INT2 pin or 0b11 to
the I3C-IBI. Latching of the interrupt status is configurable via INT_CONF.int_latch. In non-latched mode, the interrupt
is cleared automatically after 1/6400 Hz. If this automatic clearance is not desired, please configure the latched mode for
interrupts, see Section 5.9. In the latched mode, if acknowledgement of interrupts is desired, the flag INT_STATUS_INT1.
int1_gyr_drdy, INT_STATUS_INT2.int2_gyr_drdy or INT_STATUS_IBI.ibi_gyr_drdy has to be cleared by reading the
status register depending on the mapping of the interrupt to an interrupt interface. The flag STATUS.drdy_gyr is cleared
when any of the registers GYR_DATA_X to GYR_DATA_Z is read.
Note: a data ready interrupt raised through the INT1 or INT2 pin allows an estimation of the real sample rate when the
interrupt data line is also linked to an automatically latched high frequency and high resolution timer on the receiver side
of the interrupt.
5.6.3 Further Sensor Data
Temperature Sensor The data from the temperature sensor is provided with 16 bits width in two’s complement repre-
sentation in the 16 bit wide register TEMP_DATA. Reading byte-wise the 16 bit data registers always returns first the least
significant byte, then the most significant byte. The range of the temperature sensor output is from −41 ◦ C to +87 ◦ C.
The temperature sensor is automatically enabled with enabling either the accelerometer or the gyroscope. It is auto-
matically disabled when both accelerometer and gyroscope are being disabled. The register contains the invalid value
0x8000 until the first temperature measurement is completed. The rate of data available to the host (ODR) depends
on the hand on which sensors of the device are enabled and on the other hand to which power mode of a sensor is
configured, see Table 14.
Table 14 : Temperature sensor sample rate fT

Operation mode combination Min Typ Max Unit
Accelerometer in high performance mode or 12.5 12.5
normal mode and gyroscope disabled or in fast
start-up mode
Accelerometer in low power mode and gyroscope fA,low-power 6.25
Hz
disabled or in fast start-up mode
Gyroscope in high performance mode or normal 50 ... 50
mode and accelerometer disabled
Gyroscope in low power mode and accelerometer fG,low-power 12.5
disabled
Accelerometer and gyroscope in any of high 50 ... 50
performance mode or normal mode
Accelerometer in low power mode and gyroscope 50 ... 50
in high performance mode or normal mode
Gyroscope in low power mode and accelerometer 12.5 12.5
in high performance mode or normal mode

Accelerometer in low power mode and gyroscope max fA,low-power , fG,low-power 12.5
in low power mode
Sensor Time The device provides the time of the sensors synchronized to any sample acquired from the accelerom-
eter, gyroscope and temperature sensor. The value of the timer is provided with 32 bits width in the registers
SENSOR_TIME_1 and SENSOR_TIME_0. The most significant word is stored in SENSOR_TIME_1 and the least significant
word in SENSOR_TIME_0. The minimum increment of the timer is 39.0625 µs per LSB of SENSOR_TIME_0. A burst read
on the registers always provides self contained and therefore consistent values. The sensor time will wrap around after
approximately 11 hours and 39 minutes. Table 15 details the resolution and update rate of the bits in the sensor time
register.
Table 15 : Resolution and update rate of the sensor time

Bit m in SENSOR_TIME_1 31 30 29 28 27 26 25 24
Resolution [s] res. res. 20971.52 10485.76 5242.88 2621.44 1310.72 655.36
Sample Rate [Hz]
Resolution [s] 327.68 163.84 81.92 40.96 20.48 10.24 5.12 2.56
Sample Rate [Hz]
Resolution [ms] 1280 640 320 160 80 40 20 10
Sample Rate [Hz] 0.78125 1.5625 3.125 6.25 12.5 25 50 100
Resolution [µs] 5000 2500 1250 625 312.5 156.25 78.125 39.0625
Sample Rate [Hz] 200 400 800 1600 3200 6400
5.6.4 Configuration Changes
If the configuration of the device in the registers ACC_CONF or GYR_CONF is altered while the sensors are enabled, the
changes are not immediately applied to the sensors. The configuration becomes effective when a sampling event for
the currently active ODR coincides with a sampling event for the newly requested ODR on the sensor time sampling
grid. In the case where the currently active ODR equals the newly requested ODR, the configuration changes become
effective at the next sampling event. This behavior is detailed in the Figure 8.
Figure 8 : Effectiveness of configuration changes related to sample rate
5.7 FIFO Data Buffering
The FIFO data buffer collects and stores data from selected sensors to minimize transfers between device and host.
The device supports the following FIFO operating modes for the FIFO data buffer:
Streaming mode:
Behaviour: overwrite oldest data on buffer full condition
Configuration: set FIFO_CONF.fifo_stop_on_full to 0b0
Stop-on-full mode:
Behaviour: discard newest data on buffer full condition
Configuration FIFO_CONF.fifo_stop_on_full to 0b1
The FIFO data buffer has a size of 2048 bytes. It can trigger the following interrupts to the host for the conditions of
FIFO data buffer filled and FIFO data buffer watermark level reached, see details in section 5.7.3. The FIFO data buffer
is enabled to store
acceleration from the accelerometer with FIFO_CONF.fifo_acc_en=0b1,

angular rate from the gyroscope with FIFO_CONF.fifo_gyr_en=0b1,
temperature with FIFO_CONF.fifo_temp_en set to 0b1, and
sensor time with FIFO_CONF.fifo_time_en set to 0b1.
The FIFO data buffer may be used in all power modes of the device to record data. No restrictions for reading the FIFO
data buffer from the host apply.
5.7.1 Frames
The data is stored in the FIFO data buffer with frames. The frames have no header. The total width of a buffer frame
depends on the signal sources configured for storage in the buffer. When the sources to be stored in the FIFO data
buffer are set, the width one frame is constant until the configuration for sources to be stored in the FIFO is changed.
Each source adds its own specific width to the total width of a frame. The order of sources for any possible configuration
of a buffer frame is fixed, see Table 16. A lower ordering number of a source means that data appears prior in a buffer
frame compared to a higher ordering numer of a source. Disabled sources do not add any data to the buffer frame. Any
change in configuration that have an impact on the width of a buffer frame or the order of sources within a frame causes
an instant flush of the FIFO data buffer and a restart of storing signals with the new settings.
Table 16 : Order and size of sources to the FIFO data buffer

Order Source Size [words] Description
1 Accelerometer 3 Acceleration with one 16bit word for each axis x, y and z
2 Gyroscope 3 Angular rate with one 16bit word for each axis x, y and z
3 Temperature sensor 1 Temperature as one 16bit word
4 Oscillator 1 Sensor time as one 16bit word
Example: gyroscope, time, and acceleration is enabled, then the order within the buffer frame is (accel:gyro:time)
The format of the fields in a FIFO data frame is stated in Table 17.
Table 17 : FIFO Data Description

Frame Field FIFO Data Description
Accelerometer Same as configured in ACC_CONF.acc_range
Gyroscope Same as configured in GYR_CONF.gyr_range
Temperature See TEMP_DATA.temp_data
Sensortime Same resolution as sensortime, see 5.6.3
Changes to the configuration of the FIFO data buffer can cause a flush of the buffer, see details in subsection 5.7.4.
A change of the configuration of the sensor, e.g. measurement range, ODR, etc, will restart the signal processing in
the device causing invalid data until the data path is settled. The invalid data is not inserted into the buffer frames and
skipped automatically. Instead, to keep the width of a frame constant, special dummy-data is inserted. This dummy-data
can also be used to distinguish frames with old and new settings in place. The dummy data has a fixed signature for
each signal source as shown in Table 18.
Table 18 : Signature of dummy frames in the FIFO data buffer

Word Accelerometer Gyroscope Temperature
1 0x7f01 0x7f02 0x8000
2...end 0x8000 0x8000 n/a
5.7.2 Conditions and Details
Enabling FIFO Data Buffering The FIFO data buffer has to be enabled before enabling any sensor, that is the
accelerometer or the gyroscope. If the FIFO data buffering was not enabled before and is needed in any low power
mode, the device must be switched to high performance mode or normal mode to activate then the FIFO data buffer
and switch back to the low power mode.
Buffer Frame Reads A buffer frame is deleted from the FIFO data buffer after being fully read through the register
FIFO_DATA. If a frame is read only partially, it will be repeated completely with the next read of the FIFO data buffer.
In the case of a buffer overflow between the first partial read and the second read attempt, the frame is kept only if
FIFO_CONF.fifo_stop_on_full is set to 0b1.
Buffer Overreads When more data is read from the FIFO buffer than valid data is available, a value of 0x8000 is
returned for each word read exceeding the valid data.
Frame Rates The sampling rate of buffer frames in the FIFO buffer is defined by the maximum output data rate of the
sensors enabled for storage in the FIFO buffer.
Buffer Overflow In case of an overflow, the FIFO buffer can either stop recording data or overwrite the oldest data.
This behavior is controlled by the register FIFO_CONF.fifo_stop_on_full. If FIFO_CONF.fifo_stop_on_full is set to
0b0, the FIFO logic will delete the oldest frames. If FIFO_CONF.fifo_stop_on_full is set to 0b1, the newest frame may
be discarded when the remaining free space in the FIFO buffer is less than the maximum size frame. During a read
operation from the FIFO buffer by the host, no data at the FIFO buffer tail may be dropped. If the host reads the FIFO
buffer with a slower rate than it is filled, it may happen that the sensor needs to drop new data, even if FIFO_CONF.
fifo_stop_on_full is set to 0b0.
5.7.3 FIFO Buffer Interrupts
The FIFO supports the two interrupts
buffer full interrupt, and

watermark level interrupt.
The buffer full interrupt is issued when the FIFO fill level is above the full threshold. The full threshold is reached
just before the last two frames are stored in the FIFO data buffer. This interrupt is enabled by setting INT_MAP2.
fifo_full_int to 0b1.
The watermark level interrupt is issued when the fill level of the FIFO buffer is equal or above a watermark level defined
in the register FIFO_FILL_LEVEL.fifo_fill_level. Note: if the watermark level is set higher than the full level, the
interrupt may be triggered more often than expected. This interrupt is enabled by setting INT_MAP2.fifo_watermark_int
to 0b1.
The FIFO buffer interrupts can be signalled to host after mapping with INT_MAP2.fifo_watermark_int and/or
INT_MAP2.fifo_full_int them to the desired interrupt signalling channel. Latched FIFO buffer interrupts will only
be cleared, if the status register gets read and the fill level is below the corresponding FIFO interrupt.
5.7.4 FIFO Buffer Flush
A flush of the FIFO data buffer can be triggered by the user directly or indirectly by a re-configuration of the device. The
user can directly trigger a flush of the FIFO buffer by writing 0b1 to FIFO_CTRL.fifo_flush. An indirect, automated flash
of the FIFO data buffer is caused by:
a signal source being enabled or disabled, and

a signal source to be stored in the FIFO data buffer being added or removed.
Changes of the configuration, that do not cause a flush of the FIFO data buffer, are:
measurement range,
sample rate of providing data to the host (ODR), and
filter configuration.
5.8 Advanced Features
5.8.1 Global Configuration
The advanced features of the device can be activated after enabling the feature engine. The feature engine has to be
enabled following the steps also detailed in Fig. 9:
1. disable all sensors except enabling the feature engine directly after power on or soft reset, then
2. first writing 0x012C to FEATURE_IO2 followed by 0x0001 to FEATURE_IO_STATUS, then
3. setting FEATURE_CTRL.engine_en to 0b1, and then
4. waiting for the feature engine to be initialized by polling FEATURE_IO1.error_status for the value 0b001.
Note: the advanced features may be incorrectly interpreted if the accelerometer and/or gyroscope are enabled before
feature engine.
Figure 9 : Enable the feature engine
The feature engine may be disabled by setting FEATURE_CTRL.engine_en to 0b0, however, a soft reset or power cycle
is required to re-enable the feature engine. Configuration, state toggling and the data input/output of the features is
possible via
the register interface through the registers FEATURE_IO0 to FEATURE_IO3 and the input/output synchronization register
FEATURE_IO_STATUS for
enabling and disabling of features and
data and status output of advanced features, or
the command interface via the register CMD for initiating non-continuously running features, and
the configuration interface for features through the registers FEATURE_DATA_ADDR, FEATURE_DATA_TX and
FEATURE_DATA_STATUS, see Section 6.2.
The configuration of the sensor through FEATURE_IO0 must be executed following this procedure:
write or modify the configuration to FEATURE_IO0, and subsequently

activate the configuration by writing 0b1 to FEATURE_IO_STATUS.feature_io_status.
Note: prior to enabling of any of the advanced features, the configuration and enabling of the accelerom-
eter is required. A more enhanced/flexible user interface can be configured by using the function
bmi3x0_configure_enhanced_flexibility of the sensor driver API, available in Github.
The advanced features can be optimized depending on the context of the end application. The pre-defined settings in
the API are optimized for a wearable context (end device is worn at the wrist), but can also be switched to hearable or
mobile context via the API. The sensor API is available in GitHub.
Table 19 provides the overview on supported sample rates per feature in the low power operation mode of the accelerom-
eter. In the high performance power operation mode, features are supported independent of the configured sample rates
of the accelerometer.
Acceleration Any No Step Significant Tap Orientation Flat Tilt

sample rate motion / motion / counter motion detector detector detector detector
Motion station-
Detect ary
detect
> 200
Yes
200
Yes Yes
100
Yes Yes Yes Yes Yes
50
No
25
No No
12.5
Table 19 : Overview of supported sample rates per feature in the low power operation mode
The device adjusts the sample rate dependent parameters of the features to the configured reduced sample rate. Thresh-
old values are not dependent on the sample rate and therefore not modified. All user configurations are retained and not
modified until soft-reset or power down. Hence, you do not need to update the configuration when changing the sample
rate (ODR) of the accelerometer.
5.8.2 Any-motion Detection and Motion Detect
The feature any-motion detects changes in motion of one axis. It uses the slope between adjacent samples of the accel-
eration signal to trigger this event. With a different behaviour in interrupt frequency and interrupt hold time, this feature
can be configured to the generate an interrupt for motion detect with EXT.GEN_SET_1.event_report_mode set to 0b1.
The interrupt is enabled for each axis independently by writing 0b1 to FEATURE_IO0.any_motion_x_en, FEATURE_IO0.
any_motion_y_en, and FEATURE_IO0.any_motion_z_en.
The difference between the current acceleration sample and the reference sample gives the slope. The computation of
the slope depends on the setting of EXT.ANYMO_1.acc_ref_up. In the default configuration of EXT.ANYMO_1.acc_ref_up
being 0b1, the reference sample is the previous acceleration sample. When EXT.ANYMO_1.acc_ref_up is set to 0b0, the
reference sample is set to the acceleration sample when the interrupt was generated.
Figure 10 : Motion detect / Any-motion detection
The feature generates an interrupt when the absolute value of the slope exceeds the preset EXT.ANYMO_1.slope_thres
for a certain number of consecutive samples defined by EXT.ANYMO_3.duration. The reference sample is updated when
the condition is fulfilled. In other words, this means that the reference for the detection is the last state when sensor
detected an any-motion event. The generated interrupt will be cleared as soon as the slope value drops below the
threshold and after the duration EXT.ANYMO_3.wait_time elapsed. The sensitivity of this interrupt to be rethrown when
the slope increases again after dropping below the threshold is controlled with EXT.ANYMO_2.hysteresis. This feature
is supported in the high performance power operation mode for all sample rates and in the low power operation mode
for the sample rates from 12.5 Hz to the maximum supported sample rate, see Table 19.
Configuration settings
1. FEATURE_IO0.any_motion_x_en – enable the feature for the x-axis
2. FEATURE_IO0.any_motion_y_en – enable the feature for the y-axis
3. FEATURE_IO0.any_motion_z_en – enable the feature for the z-axis
4. EXT.ANYMO_1.slope_thres – the threshold for the slope
5. EXT.ANYMO_1.acc_ref_up – update mode of the acceleration reference when an event was detected or always
6. EXT.ANYMO_2.hysteresis – hysteresis for the slope of the acceleration

7. EXT.ANYMO_3.duration – the number of consecutive samples for which the threshold condition must be respected
for interrupt assertion
8. EXT.ANYMO_3.wait_time – wait time for clearing the event after the slope is below the configured threshold value
EXT.ANYMO_1.slope_thres
5.8.3 No-motion Detection and Stationary Detect
The feature no-motion detection evaluates the slope between adjacent samples of the acceleration signal in all selected
axes to detect a stationary state. The interrupt is enabled for each axis independently by writing 0b1 to FEATURE_IO0.
no_motion_x_en, FEATURE_IO0.no_motion_y_en, and FEATURE_IO0.no_motion_z_en. With a different behaviour in
interrupt frequency and interrupt hold time, this feature can be configured to the generate an interrupt for stationary
detect with EXT.GEN_SET_1.event_report_mode set to 0b1.
The difference between the current acceleration sample and the reference sample gives the slope. An interrupt is
generated when the slope for all selected axis remains smaller than the programmable threshold value EXT.NOMO_1.
slope_thres for the configurable duration value in EXT.NOMO_3.duration. This feature is supported in the high per-
formance power operation mode for all sample rates and in the low power operation mode for the sample rates from
12.5 Hz to the maximum supported sample rate, see Table 19.
Figure 11 : Stationary detect / No-motion detection
Configuration Settings
1. FEATURE_IO0.no_motion_x_en – enable the feature for the x-axis
2. FEATURE_IO0.no_motion_y_en – enable the feature for the y-axis
3. FEATURE_IO0.no_motion_z_en – enable the feature for the z-axis
4. EXT.NOMO_1.slope_thres – the threshold for the slope
5. EXT.NOMO_1.acc_ref_up – update mode of the acceleration reference when an event was detected or always
6. EXT.NOMO_2.hysteresis – hysteresis for the slope of the acceleration
7. EXT.NOMO_3.duration – the number of consecutive samples for which the threshold condition must be respected for
interrupt assertion
8. EXT.NOMO_3.wait_time – wait time for clearing the event after the slope is below the configured threshold value
EXT.NOMO_1.slope_thres
5.8.4 Significant Motion Detection
The significant motion detection provides the interrupt raised on detection of a significant motion as defined in Android1 :
https://source.android.com/devices/sensors/sensor-types.html#significant_motion.
This feature is supported in the high performance power operation mode for all sample rates and in the low power
operation mode for the sample rates from 50 Hz to the maximum supported sample rate, see Table 19. It can be
enabled by setting FEATURE_IO0.sig_motion_en to 0b1.
In Android, a significant motion is a motion due to a change in the user location. Examples of such significant motions
are walking or biking, sitting in a moving car, coach or train, etc. Examples of situations that does typically not trigger
significant motion include phone in pocket and person is stationary or phone is at rest on a table which is in normal
office use. Upon detection of a user movement classified as significant according to the aforementioned examples, an
interrupt is triggered indicating the probable change of an user location. Classification of movement as significant motion
or not is based on the analysis of acceleration signal over the time duration configured by EXT.SIGMO_1.block_size.
Time segments are assumed to be non-overlapping. If the significant motion condition is evaluated as true for greater
than 50% of the configured duration, an interrupt is reported. The condition is based on the peak-to-peak (P2P) value
and mean crossing rate (MCR) of the magnitude of the acceleration signal. The conditions for a significant motion are:
P2P magnitude is greater than EXT.SIGMO_2.peak_2_peak_min and MCR is greater than EXT.SIGMO_2.mcr_min, or
P2P magnitude is greater than EXT.SIGMO_3.peak_2_peak_max and MCR is less than EXT.SIGMO_3.mcr_max.
The feature can be configured to output only the first detected event and ignoring the following events, also known as
one-shot behavior, by setting EXT.GEN_SET_1.event_report_mode as 0b1. When this configuration is enabled, internally
the block size is set to 5 seconds and changes to the user configurable value of EXT.SIGMO_1.block_size are ignored.
Example An example for the behavior of the significant motion detection for a walking scenario is depicted in Fig. 12,
where EXT.SIGMO_1.block_size is set to 5 seconds (0x00FA).
1 Android is a trademark of Google LLC.
Figure 12 : Significant motion interrupt detection behavior for walking use-case
This example contains 3 scenarios of motion within the configured block size time interval:
1. Large initial part of segment as STILL with small part of segment as WALKING.
2. Full segment as WALKING.
3. Initial large part of segment as WALKING with remaining being STILL.
Segment 1 encompasses the user movement for less than 50% of EXT.SIGMO_1.block_size, hence no interrupt is
reported. In contrast to that, segments 2 and 3 include the user movement for greater than 50% for which the interrupts
are reported at end of the segment.
Configuration Settings Significant motion offers configuration parameters for enabling/disabling of feature and to
optimize the functional behavior based on use-case. Parameters available are described in Table 20.
Table 20 : Configuration parameters of the significant motion

Register/field name Description Default value Range
FEATURE_IO0.sig_motion_en Enable detection of significant motion status 0 0/1 (disable/enable)
of device
EXT.SIGMO_1.block_size Size of the time segment for significant 250 0 to 65535
motion detection
EXT.SIGMO_2.peak_2_peak_min Minimum threshold for peak to peak value of 38 0 to 1023
acceleration magnitude over one second
time window
EXT.SIGMO_2.mcr_min Minimum threshold for mean crossings of 17 0 to 63
time window
EXT.SIGMO_3.peak_2_peak_max Maximum threshold for peak to peak value of 595 0 to 1023
time window
EXT.SIGMO_3.mcr_max Minimum threshold for mean crossings of 17 0 to 63
time window
5.8.5 Step Counter and Step Detection
The Step Counter provides the function required for counting of steps as defined for Android2 : https://source.andro
id.com/devices/sensors/sensor-types.html#step_counter. The Step Detector implements the function required
for step counting in Android: https://source.android.com/devices/sensors/sensor-types.html#step_detector.
The algorithm for counting of steps is designed for smartphone usecases and optimized on high accuracy, while the
algorithm for the detection of steps is optimized for low latency reporting of detection events. Each event can be enabled
independently. This feature is supported in the high performance power operation mode for all sample rates and in the
low power operation mode for the sample rates from 50 Hz to the maximum supported sample rate, see Table 19.
1. FEATURE_IO0.step_counter_en – indicates if the step counter feature is enabled or not.
2. FEATURE_IO0.step_detector_en – indicates if the step detector feature is enabled or not.
3. FEATURE_IO2.step_counter_out_0 – Step counter value, lower 16bit of the 32bit value
4. FEATURE_IO3.step_counter_out_1 – Step counter value, higher 16bit of the 32bit value
5. EXT.SC_1.watermark_level – the Step Counter will trigger output every time this number of steps are counted. Holds
implicitly a 20x factor, so the range is 0 to 1023 (without the implicit factor), with resolution of 20 steps. If 0, the Step
Counter watermark is disabled. If the Step Detector is enabled, the watermark interrupt is disabled (as being mutually
exclusive).
6. EXT.SC_1.reset_counter – trigger to reset the counted steps. Resets the step count value, if any one of step counter,
step detector or activity feature is enabled.
Step Counter The Step Counter accumulates the steps detected by the step detector interrupt, and provides the
current value of the 32bit wide step count in the two registers FEATURE_IO2.step_counter_out_0 (lower word) and
FEATURE_IO3.step_counter_out_1 (higher word). By setting the flag EXT.SC_1.reset_counter to 0b1, the value of
accumulated steps is reset. Afterwards, the value of this flag is automatically reset and counting is restarted. The
accumulated step count value can be reset when any of the features Step Counter or Step Detector is enabled.
The watermark option can be useful if the host needs to receive an interrupt every time a certain number of steps occured.
When the watermark level is reached, the corresponding interrupt bit is asserted for the mapped interrupt channel, that is
INT_STATUS_INT1.int1_step_counter, INT_STATUS_INT2.int2_step_counter or INT_STATUS_IBI.ibi_step_counter.
If EXT.SC_1.watermark_level is set to 10 (holding an implicit factor of 20x), after every interval of 200 steps an interrupt
will be raised. As the steps are buffered internally, the output may be triggered between 200 to 210 steps.
Note: in case the watermark interrupt for the step counter is required for the application to be set to a level greater
than 65535, an upload of the configuration file is mandatory before enabling the feature engine and executing this
feature, see section 5.8.1. The configuration file is provided through the sensor API, available in GitHub, and can
be extracted from there. Please refer to the function bmi3x0_configure_enhanced_flexibility of the sensor driver
API for a reference implementation.
Step Detector When FEATURE_IO0.step_detector_en is set to 0b1, an interrupt is triggered for every detected step.
Every time a new step is detected, the configured corresponding interrupt output is triggered and the corresponding
status bit is set. The Step Detector feature is optimized for low latency to ensure for such events a fast reaction by the
host . Hence, when a step is detected, it is immediately signaled. Due to this behaviour, there may exist situations when
the sum of the detected steps is different than the Step Counter value.
5.8.6 Flat Detection
This interrupt detects a Flat orientation based on the acceleration signal. The interrupt is triggered when the sensor
in the device gets close to a horizontal orientation. Note: the interpretation of the sensor orientation as horizontal is
dependent on the configured axis re-mapping, see section 5.11. A horizontal orientation is detected by the angle among
the orientation of the gravitational force and the axis of the sensor configured as z-axis. The condition for activating the
interrupt reads
Θ · az · az − ∆ahysteresis ≥ ax · ax + ay · ay . (5.1)
The condition for deactivating the interrupt is given by
Θ · az · az + ∆ahysteresis < ax · ax + ay · ay . (5.2)
If one of the inequalities does not become true, then the state of interrupt is not changed. The state of the interrupt
is actually changed, that is set or reset, when the device remains in one of the conditions for the configured period
EXT.FLAT_1.hold_time. This feature is supported in the high performance power operation mode for all sample rates
and in the low power operation mode for the sample rates from 12.5 Hz to the maximum supported sample rate, see
Table 19.
Theta Angle The threshold angle Θ for detecting a Flat orientation can be configured via EXT.FLAT_1.theta where
1 LSB equals 64 · (tan (Θ))2 . Some important values of EXT.FLAT_1.theta are depicted in Table 21. The value of the
hysteresis value EXT.FLAT_2.hysteresis is set according to the following graphic, with values between 0 and 63, which
corresponds to hysteresis angle between 0 and 5 degrees. In the following graphic, 4 usual cases are depicted: 0, 1,
2.5 and 5 degrees. The hysteresis is symmetric, used for both going into and out of Flat state. For the default value of
9, the actual interval around the angle of 20 degrees is +/-2.5 degrees; so a 5 degree interval is used for total hysteresis
filtering.
Table 21 : Register value correspondence to Θ in degrees

EXT.FLAT_1.theta 0 1 2 5 8 14 22 33 45 63
Θ/deg 0 7.1 10 15.6 19.5 25.1 30.4 35.7 40 44.8
Hysteresis The threshold angle Θ for Flat detection is associated to a hysteresis to ensure a true flat detection and
avoid the oscillation the feature status. The hysteresis value EXT.FLAT_2.hysteresis is used according to Fig. 13. The
hysteresis can be configured with values between 0 and 63 that correspond to a hysteresis angle between 0 and 5
degrees. In the following graphs of Fig. 14 and Fig. 15, four typical cases are depicted for the case of the hysteresis
configured to 0, 1, 2.5 and 5 degrees. The effect of the hysteresis is symmetric and used for both cases of entering
and lesving the Flat state. For the default hystereis configuration value of 9, the actual interval around the Theta
angle Θ = 20 deg is ±2.5 deg. Hence, a total interval for the hysteresis filtering is 5 deg.
Figure 13 : Hysteresis and θ angle
Figure 14 : Positive hysteresis correspondence to θ angle
Figure 15 : Negative hysteresis correspondence to θ angle
Blocking Mode The Flat detection can be suppressed for the case of a motion with a large magnitude of the acceler-
ation to avoid a change of the Flat detection status. The blocking feature for the Flat detection interrupt is configurable
via the EXT.FLAT_1.blocking and has the meaning as defined in Table 22.
Table 22 : Blocking mode options for flat detection

Blocking mode Conditions
0b00 and 0b11 Interrupt blocking is disabled
0b01 acceleration of any axis > 1.5 g
0b10 acceleration of any axis > 1.5 g OR slope > EXT.FLAT_2.slope_thres
1. FEATURE_IO0.flat_en – Switch indicating if this feature is enabled or not
2. EXT.FLAT_1.theta – Value corresponding to the hysteresis angle Θ for flat detection
3. EXT.FLAT_1.blocking – Sets the blocking mode, see Table 22.
4. EXT.FLAT_1.hold_time – Duration for which the current state is held before an interrupt can be raised again.
5. EXT.FLAT_2.slope_thres – Minimum slope between consecutive acceleration samples to prevent a change of the
flat status during large movement
6. EXT.FLAT_2.hysteresis – Control the hysteresis to achieve the desired detection sensitivity
5.8.7 Orientation Detection
The Orientation Detection feature informs on an orientation change of the sensor with respect to the Earth gravitational
force. There are the orientations face up and face down and orthogonal to them portrait upright, landscape left, portrait
downside, and landscape right. The interrupt for face up/face down may be enabled separately by setting EXT.ORIENT_1.
ud_en to 0b1. The sensor orientation is defined by the angles ϕ and θ. ϕ is the rotation around the stationary z-axis and
θ is the rotation around the stationary y-axis before the ϕ rotation. This feature is supported in the high performance
power operation mode for all sample rates and in the low power operation mode for the sample rates from 12.5 Hz to
the maximum supported sample rate, see Table 19.
Figure 16 : Definition of the default coordinate system with respect to pin 1 marker
The measured acceleration vector components for the default configuration reads as follows:
ax = 1g · sin θ · cos ϕ (5.3)

ay = −1g · sin θ · sin ϕ (5.4)
az = 1g · cos θ (5.5)
ay
= − tan ϕ (5.6)
ax
Figure 17 : Angle-to-Orientation Mapping
The orientation value is stored in the output register. There are three orientation calculation modes: symmetrical,
high-asymmetrical and low-asymmetrical. The mode can be configured through the EXT.ORIENT_1.mode as denoted in
Table 23.
Orientation mode EXT.ORIENT_1.mode

Symmetrical 0b00 and 0b11
High asymmetrical 0b01
Low asymmetrical 0b10
Table 23 : Orientation Mode Selection
The output has the meanings depending on the switching mode as stated in the Tables 24, 25 and 26.
Table 24 : Symmetrical mode

FEATURE_EVENT_EXT. Name Angle Condition
orientation_portrait_landscape
ay
0b01 landscape left 315◦ < ϕ < 45◦ ax < 1 and ax ≥ 0
ay
0b11 landscape right 135◦ < ϕ < 225◦ ax < 1 and ax < 0
ay
0b10 portrait upside down 45◦ < ϕ < 135◦ ax ≥ 1 and ay < 0
◦ ◦ ay
0b00 portrait upright 225 < ϕ < 315 ax ≥ 1 and ay ≥ 0
Table 25 : High Asymmetrical Mode

ay
0b01 landscape left 297◦ < ϕ < 63◦ ax < 2 and ax ≥ 0
ay
0b11 landscape right 117◦ < ϕ < 243◦ ax < 2 and ax < 0
◦ ◦ ay
0b10 portrait upside down 63 < ϕ < 117 ax ≥ 2 and ay < 0
ay
0b00 portrait upright 243◦ < ϕ < 297◦ ax ≥ 2 and ay ≥ 0
Table 26 : Low Asymmetrical Mode

ay
0b01 landscape left 333◦ < ϕ < 27◦ ax < 0.5 and ax ≥ 0
ay
0b11 landscape right 153◦ < ϕ < 207◦ ax < 0.5 and ax < 0
ay
0b10 portrait upside down 27◦ < ϕ < 153◦ ax ≥ 0.5 and ay < 0
◦ ◦ ay
0b00 portrait upright 207 < ϕ < 333 ax ≥ 0.5 and ay ≥ 0
For upside or downside orientation, the output has to be interpreted according to Table 27.
Table 27 : Upside/Downside Definition

orientation_faceup_down
0b0 upside 270◦ < ϕ < 90◦ az ≥ 0
0b1 downside 90◦ < ϕ < 270◦ az < 0
Both orientation detections, the portrait/landscape and upside/downside detection, use a hysteresis to avoid frequent
interrupts due to the non-stable states of an assumed orientation, e.g. by hand tremor or noisy environments. The hys-
teresis for orientation detection except portrait upside and portrait downside is configurable and applies to all conditions
as detailed in Tables 28, 29, and 30. The corresponding hysteresis regions are depicted in the Figures 18, 19, and 20.
Table 28 : Hysteresis in the symmetrical mode

0b01 landscape left 315◦ +ϕh < ϕ < 45◦ −ϕh ay < |ax | − h and ax ≥
0
0b11 landscape right 135◦ + ϕh < ϕ < 225◦ − ay < |ax | − h and ax <
ϕh 0
0b10 portrait upside down 45◦ +ϕh < ϕ < 135◦ −ϕh ay > |ax | + h and ay <
0
0b00 portrait upright 225◦ + ϕh < ϕ < 315◦ − ay > |ax | + h and ay ≥
ϕh 0
Table 29 : Hysteresis in the high asymmetrical mode

0b01 landscape left 297◦ +ϕh < ϕ < 63◦ −ϕh ay < 2 · (|ax | − h ) and
ax ≥ 0
0b11 landscape right 117◦ + ϕh < ϕ < 243◦ − ay < 2 · (|ax | − h ) and
ϕh ax < 0
0b10 portrait upside down 63◦ +ϕh < ϕ < 117◦ −ϕh ay > 2 · |ax | + h and
ay < 0
0b00 portrait upright 243◦ + ϕh < ϕ < 297◦ − ay > 2 · |ax | + h and
ϕh ay ≥ 0
Table 30 : Hysteresis in the low asymmetrical mode

0b01 landscape left 333◦ +ϕh < ϕ < 27◦ −ϕh ay < 0.5· (|ax | − h ) and
ax ≥ 0
0b11 landscape right 153◦ + ϕh < ϕ < 207◦ − ay < 0.5· (|ax | − h ) and
ϕh ax < 0
0b10 portrait upside down 27◦ +ϕh < ϕ < 153◦ −ϕh ay > 0.5 · |ax | + h and
ay < 0
0b00 portrait upright 207◦ + ϕh < ϕ < 333◦ − ay > 0.5 · |ax | + h and
ϕh ay ≥ 0
Figure 18 : Hysteresis in the symmetrical mode
Figure 19 : Hysteresis in the high asymmetrical mode
Figure 20 : Hysteresis in the low asymmetrical mode
The hysteresis for detection of portrait upside and portrait downside is fixed to 11.5◦ which is corresponds to approxi-
mately 200 mg.
Blocking Mode It is be possible to block the notification of an Orientation Detection, that means no orientation change
will be done. The orientation interrupt blocking feature is configurable via the EXT.ORIENT_1.blocking, and has the
meaning defined in Table 31.
Table 31 : Blocking mode options for orientation detection

EXT.ORIENT_1.blocking Conditions
0b00 Interrupt blocking is disabled
0b01 Interrupt blocked if device close to the horizontal
position OR acceleration of any axis > 1.5g
0b10 same condition as blocking mode 0b01 OR slope >
0.2g
0b11 same condition as blocking mode 0b10 OR another
change within 100ms
Note: in case the 100 ms interrupt blocking is enabled, the interrupt will be triggered only when the device remains in
the same (stable) orientation until the timer expires after ~100 ms. The timer starts to run when no change between
two consecutive samples are detected. If there are changes while the timer count down is still running, the timer will be
restarted.
The flat angle blocking, that is the device is close to the horizontal orientation, is defined by inequality presented in the
Flat Detection section. The flat detection used for the blocking mode is based on the 2g acceleration measurement
range. If any other measurement range than 2g range is selected for the acceleration, the acceleration samples are
saturated before the Flat Detection.
1. FEATURE_IO0.orientation_en – Indicates if this feature is enabled or not
2. EXT.ORIENT_1.ud_en – Face upside/downside enable, in addition to landscape/portrait detection
3. EXT.ORIENT_1.mode – Used for setting which of the following modes are being used: symmetrical, high or low asym-
metrical
4. EXT.ORIENT_1.blocking – Used for setting the blocking mode
5. EXT.ORIENT_1.theta – Coded value of the threshold angle with horizontal used in blocking modes; 1 LSB corresponds
to 64 · (tan (Θ))2
6. EXT.ORIENT_2.hysteresis – Acceleration hysteresis for Orientation detection
Orientation Output The detected orientation is reported by the three bits:

1. FEATURE_EVENT_EXT.orientation_faceup_down – only available if EXT.ORIENT_1.ud_en is set to 0b1: then 0b0
means face-up detected while 0b1 means face-down detected
2. FEATURE_EVENT_EXT.orientation_portrait_landscape – the two bits tell the orientation as
a. 0b00: portrait upright
b. 0b01: landscape left
c. 0b10: portrait upside down
d. 0b11: landscape right
5.8.8 Tap Detection
The device allows the detection of different tap gestures. Supported tap gestures include the single-tap, double-tap and
triple-tap. Each gesture can be individually enabled and disabled as well as reported. Tap gestures can be enabled
or disabled individually by writing 0b1 or 0b0 respectively to dedicated bits FEATURE_IO0.tap_detector_s_tap_en,
FEATURE_IO0.tap_detector_d_tap_en and FEATURE_IO0.tap_detector_t_tap_en. When a tap gesture is detected,
an event is reported with an interrupt common for single-tap, double-tap and triple-tap. The actual tap gesture reported
can be obtained from the register FEATURE_EVENT_EXT with the bit encoded field values: FEATURE_EVENT_EXT.s_tap,
FEATURE_EVENT_EXT.d_tap, and FEATURE_EVENT_EXT.t_tap. The value of a detected tap gesture is retained in the
FEATURE_EVENT_EXT register until the next gesture detection.
The dominant sensing axis, along which the tap gesture has to be detected, can be configured using EXT.TAP_1.
axis_sel. By default, EXT.TAP_1.axis_sel is selected to be the z-axis with a value set as 0b10. Depending on the tap
impact and direction, it is also possible to detect performed tap gestures not strictly aligned with the selected axis.
A tap event is a subsequent crossing of a threshold within a configured maximum time limit between the crossings. The
absolute value of the threshold for tap detection is programmable via EXT.TAP_2.tap_peak_thres. The maximum time
window between the threshold crossings is defined by the parameter EXT.TAP_3.max_dur_between_peaks. To suppress
or enable tap detection under noisy operating conditions, the limit on the number of threshold crossings acceptable for
a tap can be configured using EXT.TAP_1.max_peaks_for_tap.
The classification of a tap gesture as a double-tap or triple-tap gesture is dependent on the time window in which the 2nd
or 3rd tap occurs after the first tap. The time boundary is set by EXT.TAP_2.max_gesture_dur. In case of a double-tap
to be detected, the 2nd tap event have to occur within this limit after the first tap. In case of a triple-tap to be detected,
the 2nd and 3rd tap events has to occur within this limit after the first tap.
On detection of a tap gesture, the reporting behavior of the event by the device is determined by the value configured in
EXT.TAP_1.wait_for_timeout:
EXT.TAP_1.wait_for_timeout set to 0b0: the tap gesture event is reported after EXT.TAP_3.
tap_shock_settling_dur. For a performed triple-tap gesture, the single-tap, double-tap and triple-tap event,
when enabled, are all reported.
EXT.TAP_1.wait_for_timeout set to 0b1: depending on the number of taps detected after EXT.TAP_2.
max_gesture_dur duration since the first tap and the tap gesture to be detected, the corresponding tap gesture
is reported. If the performed tap gesture corresponding to the number of taps detected is disabled or the number of
performed taps is greater than three, no event is reported.
Once a tap gesture is reported, the detection of a further gesture is suspended for the “quiet” time requested by the
parameter EXT.TAP_3.quite_time_after_gesture.
The tap detector offers the selection of a detection mode for a tap event with EXT.TAP_1.mode. The detection modes
enable a simple selection of sensitivity levels for tap detection while keeping the values of other configuration parameters
unchanged. Details are given in the memory map at EXT.TAP_1.mode.
The behavior of the tap detector with all supported tap gestures enabled and with EXT.TAP_1.wait_for_timeout set
to 0b0 is shown in Fig. 21. For every detected tap, the corresponding interrupt is reported if the taps occur within
EXT.TAP_2.max_gesture_dur since the first tap.
Figure 21 : Reporting of tap gesture for EXT.TAP_1.wait_for_timeout = 0b0
The tap detector behavior in case of enabling all supported tap gestures and with EXT.TAP_1.wait_for_timeout set to
0b1 is depicted in the graphs in Fig. 22. As can be seen there, only the tap detected within EXT.TAP_2.max_gesture_dur
after the first tap is reported.
Figure 22 : Reporting of tap gesture for EXT.TAP_1.wait_for_timeout = 0b1
This feature is supported in the high performance power operation mode for all sample rates and in the low power
operation mode for the sample rates from 200 Hz to the maximum supported sample rate, see Table 19.
Configuration Settings The configuration parameters for enabling/disabling of feature and adjustment of the behavior
to the application and context are summarized in Table 32.
Table 32 : Configuration parameters of the tap detector

Register/field name Description Default Range
FEATURE_IO0.tap_detector_s_tap_en Enable detection of single tap gesture 0 0/1 (dis/en)
FEATURE_IO0.tap_detector_d_tap_en Enable detection of double tap gesture 0 0/1 (dis/en)
FEATURE_IO0.tap_detector_t_tap_en Enable detection of triple tap gesture 0 0/1 (dis/en)
EXT.TAP_1.axis_sel Selection of dominant axis for tap 2 0 to 2
gesture detection
EXT.TAP_1.wait_for_timeout Wait for duration set by 1 0/1 (dis/en)
max_gesture_dur after first tap for
gesture confirmation
EXT.TAP_1.max_peaks_for_tap Maximum number of positive and 6 0 to 7
negative threshold crossing for a tap
detection
EXT.TAP_1.mode Tap detection mode 1 0 to 2
EXT.TAP_2.tap_peak_thres Magnitude threshold for the peak of 45 0 to 1023
tap event
EXT.TAP_2.max_gesture_dur Maximum time duration within which 16 0 to 63
2nd and/or 3rd tap have to performed
for gesture classification
EXT.TAP_3.max_dur_between_peaks Maximum duration between positive 4 0 to 15
and negative peaks of a tap
EXT.TAP_3.tap_shock_settling_dur Maximum duration for settling of tap 6 0 to 15
shock
EXT.TAP_3.min_quite_dur_between_taps Minimum quiet time between 2 8 0 to 15
consecutive taps
EXT.TAP_3.quite_time_after_gesture Quiet time after gesture reporting 6 0 to 15
when gesture detection is disabled
5.8.9 Tilt Detection
The function and behavior of the Tilt Detector is derived from the Android3 specification available via the link https:
//source.android.com/devices/sensors/sensor-types.html#tilt_detector. A tilt interrupt is reported when
the attitude angle of the device changes by a value greater than configured angle threshold. The detection of a tilt of
the device can be enabled by writing 0b1 to FEATURE_IO0.tilt_en, otherwise the feature is disabled. This feature is
supported in the high performance power operation mode for all sample rates and in the low power operation mode for
the sample rates from 50 Hz to the maximum supported sample rate, see Table 19.
The minimum angle of tilt for event detection can be configured using EXT.TILT_1.min_tilt_angle. The value for the
threshold for tilt angle set is computed as 256·cos θ. The time interval, in which the gravity acceleration signal vector has
to be estimated, is configured via the parameter EXT.TILT_1.segment_size. The lowpass filtering for the continuous
estimation of the gravity acceleration vector can be configured with parameter EXT.TILT_2.beta_acc_mean.
The feature can be configured to output only the first detected event and ignoring the following events, also known
as one-shot behavior, by setting EXT.GEN_SET_1.event_report_mode as 0b1. When this configuration is enabled, the
configuration values of EXT.TILT_1.min_tilt_angle are set to 35 degrees and the EXT.TILT_1.segment_size to 2
seconds. When EXT.GEN_SET_1.event_report_mode is set to 0b1, changes to the values of this user configuration have
no impact on the behavior this algorithm.
Example The functional behavior of the tilt detector for default configuration settings is shown in Figure 23.
Figure 23 : Functional behavior of tilt detection
The tilt interrupt is triggered when the change of the angle is greater than set threshold independent of the direction of
movement.
Configuration Settings Configuration parameters for enabling and disabling of feature as well as to adapt the behavior
to the application. The available parameters are described in Table 33.
Table 33 : Configuration parameters of the tilt detector

Register/field name Description Default value Range
FEATURE_IO0.tilt_en Enable detection of tilt of the 0 0/1 (disable/enable)
device
EXT.TILT_1.segment_size Time duration for which 100 0 to 255
acceleration vector is averaged
for reference vector
EXT.TILT_1.min_tilt_angle Minimum angle by which the 210 0 to 255
device shall be tilted for event
detection
EXT.TILT_2.beta_acc_mean Decay coefficient for 61545 0 to 65535
computation of acceleration
vector mean
5.9 General Interrupt Signalling Configuration
The signalling of interrupts to the host is possible via the I3C feature in-band interrupt (IBI) and two electrical pins. When
the protocols SPI and I²C are used, signalling of interrupts to the host is only possible via the INT1 and INT2 pin. IBI can
only be used when the device is connected to the host via I3C. When using the protocol I3C, the IBI feature as well as
the two interrupt pins can be used at the same time to signal interrupts to the host.
Interrupt Mapping and Acknowledgement The mapping of a feature interrupt to a signalling channel can be con-
figured through the registers INT_MAP1 and INT_MAP2. Each feature is mapped exclusively to one of these signalling
channels using the scheme stated in Table 34.
Table 34 : Interrupt mapping to signalling channel

Map mode Behaviour
0b00 Signalling of interrupt disabled
0b01 Signalling of interrupt on INT1 pin
0b10 Signalling of interrupt on INT2 pin
0b11 Signalling of interrupt via I3C IBI
Once an interrupt is notified to the host via a configured signalling channel, the host can determine the source of
the interrupt through the status bits of the corresponding signalling interface. For each interrupt signalling channel, a
dedicated interrupt status register is present in the register map of the device:
the INT1 pin has the corresponding status register INT_STATUS_INT1,

the INT2 pin has the corresponding status register INT_STATUS_INT2, and
the in-band interrupt feature of I3C has the corresponding status register INT_STATUS_IBI.
It is recommended to separate the interrupts of the feature engine from the basic interrupts (data ready for signals and
FIFO buffer interrupts), as the advanced features signaling pattern could be overruled by the basic interrupts.
Electrical Interrupt Pin Behavior The interrupt pins can be enabled via IO_INT_CTRL.int1_output_en and
IO_INT_CTRL.int2_output_en, respectively. Note: this is not applicable to the I3C IBI feature. Both interrupt pins
INT1 and INT2 can be configured to have the desired
electrical drive characteristic,
active level of the interrupt, and

interrupt latching.
The characteristic of the output driver of the interrupt pins may be configured with bits IO_INT_CTRL.int1_od and
IO_INT_CTRL.int2_od. By setting these bits to 0b1, the output driver shows open-drive characteristic, by setting the
configuration bits to 0b0, the output driver shows push-pull characteristic.
The interpretation of the active level controlled through the interrupt pin can be configured as either “active-high” or
“active-low” via IO_INT_CTRL.int1_lvl and IO_INT_CTRL.int2_lvl, respectively.
The device supports non-latched and latched interrupts modes for data ready, FIFO watermark, FIFO full, error, and
the advanced feature interrupts. The mode is selected by INT_CONF.int_latch. Non-latched interrupts are designed
for systems using edge triggered interrupts while latched interrupts are designed for systems using level-triggered inter-
rupts. In the latched mode, an asserted interrupt status in INT_STATUS_INT1 and the INT1 pin are reset, if the status
register INT_STATUS_INT1 is read. The same applies to an asserted interrupt status in INT_STATUS_INT2 and the INT2
pin, which are reset once the status register INT_STATUS_INT2 is read. If the interrupt activation condition still holds
when the interrupt is reset, the interrupt status and pin are asserted again. In the non-latched mode, the configured INT1
or INT2 pin is reset as soon as the activation condition is not valid any more:
for the feature engine based interrupts, the INT1 and INT2 pins are reset after the hold time selected by the host. In
case of the features any-motion, no-motion, flat, orientation, single-tap, double-tap and triple-tap, the INT1/2 pin will
be reset and set again if the hold time is configured to a value less than 20 ms even though the condition is true.
The interrupt status bits are active until read by the host.
5.10 Auto-operation mode change
The auto-operation mode change is a built-in feature to support the smart power management of the device. The
function provides automatic switching among two sets of operation modes for its accelerometer and gyroscope. The
switching is initiated by events of enabled advanced features or by commands sent from the host. In the following,
the one set of configurations consists of ACC_CONF and GYR_CONF for the accelerometer and gyroscope and is called
user configuration. The other set sensor of configurations consists of ALT_ACC_CONF and ALT_GYR_CONF, and is called
alternative configuration.
Switching between the user and alternative configuration is enabled through ALT_CONF.alt_acc_en and ALT_CONF.
alt_gyr_en for the accelerometer and gyroscope, respectively. The conditions to switch from the operation mode
configured can be configured through EXT.ALT_CONFIG_CHG. By selecting one of the advanced features described in
Section 5.8, it can be configure independently
on the one hand through EXT.ALT_CONFIG_CHG.alt_conf_alt_switch_src_select to switch from the user configu-
ration to the alternative configuration by selecting one of the advanced features with source IDs in Table 35, and
on the other hand through EXT.ALT_CONFIG_CHG.alt_conf_user_switch_src_select to switch from the alternative
configuration to the user configuration by selecting one of the advanced features with source IDs in Table 35.
Table 35 details the selectable advanced features with respect to the index letter. Please be aware, that if advanced
features are configured for both transitions, that means for the switch from the user to the alternative configuration and
for the switch from the alternative to the user configuration, not the same advanced feature is enabled. If ALT_CONF.
alt_rst_conf_write_en is enabled, the configurations of the sensors can be instantly reset to the user configuration by
directly writing from the host to either ACC_CONF or GYR_CONF.
Table 35 : Advanced feature mapping indices

Feature index letter Advanced feature name
A No motion detection
B Any motion detection
C Flat detection
D Orientation detection
E Step detector
F Step counter watermark
G Significant motion detection
H Tilt detection
I Tap detection
5.11 Axis Re-mapping and Sign Inversion
The device supports the re-mapping of the axis and inversion of the sign within the data path. This feature of the device
ensures consistent usage of the acceleration and angular rate signal in the algorithms on the device as well as in the
processing on the host. The re-mapping and sign inversion for the device axis must only be done when the device is
not acquiring data nor computing any advanced feature, e.g. after power up or after a soft reset. The re-mapping and
sign inversion of the device axis is a volatile configuration and, hence, has to be performed always after power up or soft
reset to ensure the same output by the device.
Figure 24 : Sequence to perform the axis re-mapping and sign version
The desired configuration for the axis re-mapping and sign inversion has to be written to EXT.AXIS_MAP_1 before sending
the command 0x0300 to the register CMD. The mapping of the default axis configuration to the desired axis configuration
can be done writing the map code to EXT.AXIS_MAP_1.axis_map. The sign inversion of the axis, which can be interpreted
as an axis flip, can be configured for each axis individually by toggling the default value 0b0 to 0b1 in EXT.AXIS_MAP_1.
invert_x, EXT.AXIS_MAP_1.invert_y or EXT.AXIS_MAP_1.invert_z, respectively. After the update of this configuration,
the desired axis re-mapping and sign inversion can be activated by sending the command 0x0300 to the register CMD.
The success or failure of the axis re-mapping can be determined by
monitoring the interrupt err_status via an interrupt pin or I3C IBI, and
polling the register FEATURE_IO1 and checking the values in the fields FEATURE_IO1.axis_map_complete and
FEATURE_IO1.error_status.
Any configuration of the device must not be changed until the completion of the axis re-mapping and sign inversion is
signalled. This procedure will clear the data path gain and offset values. The gain and offset for accelerometer and
gyroscope have to be saved before power down or soft-reset, and they can only be re-applied after power-up and after
performing again an axis re-mapping and sign inversion.
1. CMD – perform the axis re-mapping and sign inversion by sending the code 0x0300
2. EXT.AXIS_MAP_1.axis_map – mapping of the default axes configuration to the user configuration
3. EXT.AXIS_MAP_1.invert_x – inversion of the x axis in user configuration
4. EXT.AXIS_MAP_1.invert_y – inversion of the y axis in user configuration
5. EXT.AXIS_MAP_1.invert_z – inversion of the z axis in user configuration
5.12 User offset and sensitivity error update
The compensation of the offset and sensitivity error observed in the field, e.g. due to soldering, is strongly recommended
to be applied on the host. Values for compensation have to be determined on the host except for the case of using
gyroscope self-calibration provided from within the device. Compensation on the host is recommended because the
values must be stored on the host since the device does not provide means to store these within non-volatile memory of
the device. In case it is desired to output the calibrated signal of the accelerometer and gyroscope by the device itself,
the device provides the user with dedicated means to perform compensation with values provided by the user. To obtain
the expected output signal scal , where s is either the acceleration a or the angular rate w, the offset and sensitivity error
must be estimated on the host according to the model
scal ,{x;y;z} = g{x;y;z} · suncal,{x;y;z} + o{x;y;z} , (5.7)

where o = ox , oy , oz and g = gx , gy , gz are the user offset and user sensitivity error of the signal suncal , respec-
tively. Then, the user sensitivity error and the user offset values can be written by the user directly to registers for the
accelerometer and gyroscope. These registers are:
for the accelerometer:

user offset ACC_DP_OFF_X, ACC_DP_OFF_Y, and ACC_DP_OFF_Z
user sensitivity error ACC_DP_DGAIN_X, ACC_DP_DGAIN_Y, and ACC_DP_DGAIN_Z
for the gyroscope:
user offset GYR_DP_OFF_X, GYR_DP_OFF_Y, and GYR_DP_OFF_Z
user sensitivity error GYR_DP_DGAIN_X, GYR_DP_DGAIN_Y, and GYR_DP_DGAIN_Z
It is strongly recommended to update the registers only when the sensors, that means accelerometer and gyroscope,
are disabled to avoid settling of the respective signal, that means either accelerometer or gyroscope, after the values
are updated.
Note: the self-calibration for the gyroscope described in section 5.13 can write, depending on the configuration, directly
into the registers for compensation of user offset and/or user sensitivity error for the gyroscope. The user must take
care of saving these values on the host and either perform compensation on the host or by the device through writing
the values for user sensitivity error and user offset registers for the gyroscope after each power-on-reset and soft-reset.
5.13 Self Calibration (CRT)
The device offers self-calibration for the gyroscope sensitivity error and the gyroscope offset. Self-calibration to reduce
the gyroscope sensitivity error is also known as component re-trim (CRT).
Configuration of the Self Calibration The self-calibration sequence can be configured with EXT.GYR_SC_SELECT.
sens_en and EXT.GYR_SC_SELECT.offs_en to calibrate either both gyroscope sensitivity error and gyroscope offset
or only one of them. If both gyroscope characteristics are desired to be calibrated, the device is calibrated first for
the gyroscope sensitivity error followed by the gyroscope offset. The default configuration of calibrating both gyro-
scope characteristics can be changed by writing 0b0 to EXT.GYR_SC_SELECT.sens_en or EXT.GYR_SC_SELECT.offs_en.
By default, the results of the self-calibration are written to data path registers GYR_DP_DGAIN_X, GYR_DP_DGAIN_Y and
GYR_DP_DGAIN_Z for the sensitivity error and GYR_DP_OFF_X, GYR_DP_OFF_Y and GYR_DP_OFF_Z for the offset. By setting
EXT.GYR_SC_SELECT.apply_corr to 0b0, the update of the data path registers can be suppressed.
The device monitors the motion that is imposed by the context onto the device. The sensitivity of this motion detection
can be configured through EXT.GYR_MOT_DET.slope. Note: this configuration of the detection of any motion is also used
by the device self test.
Prerequisites for the Self Calibration Before initiating the self-calibration, it should be checked for an on-going self-
calibration or self-test by reading FEATURE_IO1.state. When the value is 0b00, a self-calibration can be initiated. As
long as FEATURE_IO1.state is not 0b00, this bit shall be polled by re-reading until the value turns to 0b00. To start
a self-calibration, the accelerometer is required to be enabled (already) in high performance mode with a sample rate
ACC_CONF.acc_odr preferred in the range of 25 Hz up to 200 Hz. The alternative sensor configurations for accelerometer
and gyroscope must be disabled by setting ALT_ACC_CONF.alt_acc_mode and ALT_GYR_CONF.alt_gyr_mode to 0b0,
respectively. Then, a self-calibration can be initiated. Note: if the command for a self-calibration is sent once or multiple
times while FEATURE_IO1.state has the value 0b01, 0b10 and 0b11, the command is ignored.
Execution of the Self Calibration The device shall be kept in a still orientation while the self-calibration is running and
shall not be exposed to noise and distortion. The self calibration can be started by writing 0x0101 to the register CMD.
After initiating the self-calibration, the device shall not be re-configured until the end of self-calibration procedure is
reported.
The start of the self-calibration disables immediately the output of gyroscope sensor samples (data). During the execu-
tion of the self-calibration, the gyroscope sensor output in the data registers as well as in the FIFO data buffer is invalid,
however, accelerometer output is still valid. The output of any previously enabled advanced features of Section 5.8 will
still be provided during self-calibration. The duration of the self-calibration for standard settings is approximately 350 ms
for the measurement of the re-scaling for the angular rate and 80 ms for the gyroscope offset measurement.
The state of the self-calibration can be determined by checking FEATURE_IO1.sc_st_complete. An ongoing self-
calibration is reflected by 0b0 while 0b1 is reported when it is completed. An ongoing self-calibration is also reflected
in the register field FEATURE_IO1.state with the value 0b01. The completion of the self-calibration is also reported
in FEATURE_IO1.error_status with the value 0x5. The success of the self-calibration is reported in the register field
FEATURE_IO1.gyro_sc_result with 0b1, a failure with 0b0. Depending on the configuration EXT.GYR_SC_SELECT.
apply_corr of the self-calibration, the data path registers are updated automatically. The sequence of executing the
self-calibration is summarized in Figure 25.
Figure 25 : Self-Calibration Start Sequence
Note: the results of the self-calibration in the data path registers should to be saved by the host to a non-volatile storage
to allow restoring them after a power down or soft reset of the device.
Abort the Self Calibration A running self-calibration can be aborted by sending the command 0x0200 to CMD.
Then, FEATURE_IO1.state can be checked for any state different than 0b01 and the device reports in FEATURE_IO1.
error_status the value 0x9. The sequence to abort the self-calibration is detailed in Figure 26.
Figure 26 : Self-Calibration Abortion Sequence
5.14 Self Test
The self-test of the device checks for a correct function of the accelerometer as well as the gyroscope. The execution of
the self-test expects the following prerequisites to be fulfilled:
for the gyroscope self-test, the accelerometer must be configured to high performance mode at least, and
the alternative sensor configurations for accelerometer and gyroscope must be disabled by setting ALT_ACC_CONF.
alt_acc_mode and ALT_GYR_CONF.alt_gyr_mode to 0b0, respectively.
The self-test for the accelerometer and the gyroscope is initiated by writing the command 0x0100 to the register CMD. It is
possible to configure the self test to check only the accelerometer or the gyroscope by disabling either the gyroscope with
EXT.ST_SELECT.gyr_st_en to 0b0 or the accelerometer with EXT.ST_SELECT.acc_st_en to 0b0, respectively. Depending
on the configuration, the self test takes from 100 ms for the only the accelerometer up to 350 ms for both sensors.
Once a self test is initiated, the output of data of the device to the registers and FIFO data buffer as well as all features
are disabled. While the self-test is in progress, the host is not allowed to modify the configuration of the device. The
device reports in the register field FEATURE_IO1.sc_st_complete with 0b1 when the self-test is completed. The result
of the self-test can be determined by evaulating the register field FEATURE_IO1.st_result. In case the self-test failed,
detailed information about the sensor and axis causing the failure can be obtained by reading from EXT.ST_RESULT. After
a completed self test, a soft reset or power cycle of the device is not required.
The device monitors the motion the device is exposed to while executing the self-test. The sensitivity of this motion
detection can be configured through EXT.GYR_MOT_DET.slope. Note: this configuration of the detection of any motion is
also used by the device self calibration.
5.15 I3C Timing Control
The device supports time control modes as defined by the MIPI I3CSM standard. As defined by the I3C specification,
the device supports timing control for both synchronous systems and events called synchronous mode as well as for
asynchronous systems and events called asynchronous basic mode. The modes can be configured, entered, and left
using I3C common command codes (CCCs).
Mode for Asynchronous Systems and Events The device supports the asynchronous basic mode of timing con-
trol (asynchronous mode 0) as defined in the MIPI I3CSM specification. For entering the asynchronous mode 0, the
host sends the CCC SETXTIME with the defining byte 0xDF. For exiting the asynchronous mode 0, the host sends the
CCC SETXTIME with sub-command 0xFF.
Mode for Synchronous Systems and Events The main idea of the synchronous mode is to configure the sensor for
synchronization first and then issue periodically synchonization messages to keep the sensor device synchonized with
the host device. The data ready interrupts of accelerometer, gyroscope and temperature sensor are aligned with respect
to sample rate and phase. The synchronization process is divided into the two phases configuration and run-time. Note:
this mode
cannot be used together with when the automatic operation mode switch is enabled,
cannot be enabled while a self-test is ongoing, and
aborts an on-going self-calibration when this mode is enabled.
Note: if a self-test is in progress while this mode is requested to be enabled, the synchronous timing control will be
enabled only after the self-test is finished.
The mode for synchronous systems and events has to be configured for the serial interface with the CCC SETXTIME, and
the data processing control FEATURE_IO0.i3c_sync_en. To have the serial interface entering the synchronous mode,
the host sends the CCC SETXTIME with any of the sub-command 0x3F, 0x9F, or 0x8F. The argument of the subcommand
is ignored, if the device is not in the synchronous mode. To enter the timing control in synchronous mode and to set the
time period and the phase value 0xABCD, the host needs to send the two CCCs SETXTIME 0x3F|0x9F|0x8F followed by
two dummy bytes and then SETXTIME 0x3F 0xABCD. Another possibility for the host to configure the synchronous mode
is to read or write the synchronous mode parameters T_Ph, TU, and ODR directly via the registers I3C_TC_SYNC_TPH,
I3C_TC_SYNC_TU, and I3C_TC_SYNC_ODR, respectively. Before sending I3C synchonization messages, the synchronous
mode needs to be enabled for the data processing by setting FEATURE_IO0.i3c_sync_en to 0b1. For exiting the syn-
chronous mode, the host sets FEATURE_IO0.i3c_sync_en to 0b0 to disable the I3C data processing and sends the CCC
SETXTIME with sub-command 0xFF to control the serial interface of the device.
Configuration During the configuration phase the parameters sample rate (ODR), time period and phase (T_Ph)
and time unit (TU) have to be configured by the host:
ODR The ODR command selects the enforced ODR. The payload of this command consists of one byte. The format of
the ODR payload equals the ACC_CONF.acc_odr register. The minimum and maximum configurable sample rate
for synchronous timing control is in the range of 6.25 Hz up to 800 Hz. If the configuration is selected beyond this
range, the default sample rate of 100 Hz is configured. Example: ODR payload = 0x8 means 100 Hz.
T_ph The time period and phase (T_ph) command provides the number of samples that are included between two
successive synchronization messages.
TU The TU command configures the resolution ratio of the delay, given by DT command.
During the configuration phase the command ODR, TPH and TU are updated by the CCC SETXTIME in I3C mode.
The host is allowed to alter I3C_TC_SYNC_TPH, I3C_TC_SYNC_TU, and I3C_TC_SYNC_ODR whenever required at any time.
However, the new values take effect only active after sending configuration change command 0x201 for synchronous
timing control to the register CMD. With a ST or DT message, any change of the confguration will become effective for
this device.
Before entering the Runtime phase, the sync for sensor feature must be enabled by FEATURE_IO0.i3c_sync_en.
Note: while timing control synchronous is enabled, the configuration of the sample rate of the accelerometer and gy-
roscope must not be modified through ACC_CONF.acc_odr and GYR_CONF.gyr_odr, respectively. Any change to these
values is ignored and will be overwritten by the device, and this is reported in FEATURE_IO1.error_status with a value
of 0xF. The configuration of the sample rate has to be done either through the register I3C_TC_SYNC_ODR or the corre-
sponding CCC.
Run Time Operation In the run-time phase, the host issues periodically synchronization messages to the sensor.
These messages consist of two inter-related commands. First, the ST command selects a START event as reference
for calculating the next synchronization period. Afterwards the DT command is sent by the host validating the ST and
providing a delay time information to adjust the START event. If both commands are received, the sensor can update its
clock parameters.
ST The sync tick command identifies the transaction START event. It has no payload.
DT The DT command delivers the delay time between the ST message and the correct START moment. It has one byte
of payload. The MSB of the payload indicates that the delay time is valid (0) or that this sync procedure is aborted
(1). If the delay is valid, the remaining 7 bits indicate the number of resolution steps between ST and the correct
START event, see the description of TU.
For a more detailed description of the synchronization protocol see the MIPI I3CSM specification.
ODR Configuration Error The synchronous mode feature will operate in the correct manner only when the user
follows the constraints on the supported sample rates. The device checks continuously for matching values of sample
rates. If the value for one of the signals acceleration, angular rate or temperature is not within the limits, the i3c_error bit
is set. The conditions for return an I3C error for an invalid sample rate (ODR) is detailed in Figure 27.
Figure 27 : Conditions for I3C Sample Rate (ODR) Configuration Errors
Output Details After enabling the synchronous timing control feature for I3C, the sensor data is available in the
FIFO data buffer. Furthermore, the current valid sample set can be obtained via the extended register map from
EXT.SYNC_ACC_X to EXT.SYNC_TIME. No valid data will be available in data registers ACC_DATA_X to TEMP_DATA. The
format of the data in the FIFO data buffer is the same as in any other mode. That means, sensors that are not enabled
will not appear in the FIFO data frame, see Section. 5.7.
5.16 Device Status
The device reports its status through
the register ERR_REG for hardware errors:

Illegal configurations in the registers ACC_CONF and GYR_CONF will result in an error code in the fields ERR_REG.
acc_conf_err and ERR_REG.gyr_conf_err, respectively. In this case, the content of the corresponding data
register is undefined. For details, please refer to Section 5.6.
I3C errors are reported with ERR_REG.i3c_error0 and ERR_REG.i3c_error3. For details, please refer to Sec-
tion 7.2.4.
the register STATUS for availability information: for details, please check Section 5.6.
the register FEATURE_IO_STATUS for advanced feature information
the register FEATURE_DATA_STATUS for the status of the configuration interface for the advanced features
the register FEATURE_ENGINE_STATUS for hardware errors of the feature engine
Reserved bits in these registers are for Bosch Sensortec internal purposes only and can be ignored safely.
5.17 Soft Reset
A soft reset can be initiated at any time by writing the command softreset 0xDEAF to the register CMD. The softreset
performs a fundamental reset to the device which is largely equivalent to a power cycle. Following a delay, all user
configuration settings are overwritten with their default state wherever applicable. To access the serial interface with any
of the protocols SPI, I3C or I²C after a soft reset, the same timing constraints apply as for power on, see Chapter 3 for
details.
6 Memory Map
The device can be operated for all standard features directly through registers. The registers are described in the register
map in Section 6.1. The configuration and extended outputs of the advanced features provided by the feature engine
can be accessed through the extended register map. The layout of the extended registers is described in Section 6.2.
For all data read from registers, content marked as reserved must be ignored. If only the first byte of a register contains
non-reserved data, the upper byte is not required to be read.
When performing an update of a register with fields marked as reserved (partial update), a read-modify-write approach
has to be followed to write the content of a register. That means, for a write access to a register with reserved content,
the whole register must be read, then the desired content must be updated and the content written (back) to the register
to avoid overwriting the reserved part with undefined content. This is especially important for the extended register map
where many configurations are located.
6.1 Register Map Description
The description of the register map is split into the overview of the register map and a detailed description for each regis-
ter. The usage of the registers FEATURE_IO0 to FEATURE_IO3 together with the register FEATURE_IO_STATUS is explained
in Section. 5.8. The access to the extended register map through the registers FEATURE_DATA_ADDR, FEATURE_DATA_TX
and FEATURE_DATA_STATUS is explained in Section 6.2.
6.1.1 Register Map Overview
Table 36 provides an overview of the register map of the device.
Table 36 : Register map overview
Legend Read-only Read/Write Write-only Reserved

Reset
Addr Name bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
value
0x00 CHIP_ID 0x0043 reserved chip_id
0x01 ERR_REG 0x0000 reserved i3c_er... reserved i3c_er... reserved gyr_co... acc_co... feat_e... reserved feat_e... reserved fatal_err
0x02 STATUS 0x0001 reserved drdy_acc drdy_gyr drdy_temp reserved por_de...
0x03 ACC_DATA_X 0x8000 acc_x
0x04 ACC_DATA_Y 0x8000 acc_y
0x05 ACC_DATA_Z 0x8000 acc_z
0x06 GYR_DATA_X 0x8000 gyr_x
0x07 GYR_DATA_Y 0x8000 gyr_y
0x08 GYR_DATA_Z 0x8000 gyr_z
0x09 TEMP_DATA 0x8000 temp_data
0x0A SENSOR_TIME_0 0x0000 sensor_time_15_0
0x0B SENSOR_TIME_1 0x0000 sensor_time_31_16
0x0C SAT_FLAGS 0x0000 reserved satf_g... satf_g... satf_g... satf_a... satf_a... satf_a...
0x0D INT_STATUS_INT1 0x0000 int1_f... int1_fwm int1_a... int1_g... int1_t... int1_e... int1_i3c int1_tap int1_tilt int1_s... int1_s... int1_s... int1_o... int1_flat int1_a... int1_n...
0x0E INT_STATUS_INT2 0x0000 int2_f... int2_fwm int2_a... int2_g... int2_t... int2_e... int2_i3c int2_tap int2_tilt int2_s... int2_s... int2_s... int2_o... int2_flat int2_a... int2_n...
0x0F INT_STATUS_IBI 0x0000 ibi_ffull ibi_fwm ibi_ac... ibi_gy... ibi_te... ibi_er... ibi_i3c ibi_tap ibi_tilt ibi_si... ibi_st... ibi_st... ibi_or... ibi_flat ibi_an... ibi_no...
0x10 FEATURE_IO0 0x0000 i3c_sy... tap_de... tap_de... tap_de... tilt_en sig_mo... step_c... step_d... orienta... flat_en any_mo... any_mo... any_mo... no_mot... no_mot... no_mot...
0x11 FEATURE_IO1 0x0000 reserved state axis_m... reserved sample˙.. st_result gyro_s... sc_st˙.. error_status
0x12 FEATURE_IO2 0x0000 step_counter_out_0
0x13 FEATURE_IO3 0x0000 step_counter_out_1
0x14 FEATURE_IO_STATUS 0x0018 reserved feature...
0x15 FIFO_FILL_LEVEL 0x0000 reserved fifo_fill_level
0x16 FIFO_DATA 0x0000 fifo_data
... - - reserved
0x20 ACC_CONF 0x0028 reserved acc_mode reserved acc_avg_num acc_bw acc_range acc_odr
0x21 GYR_CONF 0x0048 reserved gyr_mode reserved gyr_avg_num gyr_bw gyr_range gyr_odr
... - - reserved
0x28 ALT_ACC_CONF 0x3206 reserved alt_acc_mode reserved alt_acc_avg_num reserved alt_acc_odr
0x29 ALT_GYR_CONF 0x1206 reserved alt_gyr_mode reserved alt_gyr_avg_num reserved alt_gyr_odr
0x2A ALT_CONF 0x0000 reserved alt_rs... reserved alt_gy... reserved alt_ac...
© Bosch Sensortec GmbH 2023 | All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights Document number: BST-BMI323-DS000-09
Table 36 : Register map overview (continued)

Reset
value
0x2B ALT_STATUS 0x0000 reserved alt_gy... reserved alt_ac...
... - - reserved
0x35 FIFO_WATERMARK 0x0000 reserved fifo_watermark
0x36 FIFO_CONF 0x0000 reserved fifo_t... fifo_g... fifo_a... fifo_t... reserved fifo_s...
0x37 FIFO_CTRL 0x0000 reserved fifo_f...
0x38 IO_INT_CTRL 0x0000 reserved int2_o... int2_od int2_lvl reserved int1_o... int1_od int1_lvl
0x39 INT_CONF 0x0000 reserved int_latch
0x3A INT_MAP1 0x0000 tilt_out sig_motion_out step_counter_out step_detector_out orientation_out flat_out any_motion_out no_motion_out
0x3B INT_MAP2 0x0000 fifo_full_int fifo_watermark_int acc_drdy_int gyr_drdy_int temp_drdy_int err_status i3c_out tap_out
... - - reserved
0x40 FEATURE_CTRL 0x0000 reserved engine_en
0x41 FEATURE_DATA_ADDR 0x0000 reserved data_address
0x42 FEATURE_DATA_TX 0x0000 data_tx_value
0x43 FEATURE_DATA_STATUS 0x0000 reserved data_t... data_o...
... - - reserved
0x45 FEATURE_ENGINE_STATUS 0x0000 reserved watchdo... disable... data_t... reserved overload sleep
... - - reserved
0x47 FEATURE_EVENT_EXT 0x0000 reserved t_tap d_tap s_tap orienta... orientation_port...
... - - reserved
0x4F IO_PDN_CTRL 0x0000 reserved anaio_...
0x50 IO_SPI_IF 0x0000 reserved spi3_en
0x51 IO_PAD_STRENGTH 0x000A reserved if_i2c... if_drv
0x52 IO_I2C_IF 0x0000 reserved watchdo... watchdo...
0x53 IO_ODR_DEVIATION 0x0000 reserved odr_deviation
... - - reserved
0x60 ACC_DP_OFF_X 0x0000 reserved acc_dp_off_x
0x61 ACC_DP_DGAIN_X 0x0000 reserved acc_dp_dgain_x
0x62 ACC_DP_OFF_Y 0x0000 reserved acc_dp_off_y
0x63 ACC_DP_DGAIN_Y 0x0000 reserved acc_dp_dgain_y
0x64 ACC_DP_OFF_Z 0x0000 reserved acc_dp_off_z
0x65 ACC_DP_DGAIN_Z 0x0000 reserved acc_dp_dgain_z
0x66 GYR_DP_OFF_X 0x0000 reserved gyr_dp_off_x
0x67 GYR_DP_DGAIN_X 0x0000 reserved gyr_dp_dgain_x
0x68 GYR_DP_OFF_Y 0x0000 reserved gyr_dp_off_y
0x69 GYR_DP_DGAIN_Y 0x0000 reserved gyr_dp_dgain_y
0x6A GYR_DP_OFF_Z 0x0000 reserved gyr_dp_off_z
Table 36 : Register map overview (continued)

Reset
value
0x6B GYR_DP_DGAIN_Z 0x0000 reserved gyr_dp_dgain_z
... - - reserved
0x70 I3C_TC_SYNC_TPH 0x0000 i3c_tc_sync_tph
0x71 I3C_TC_SYNC_TU 0x0000 reserved i3c_tc_sync_tu
0x72 I3C_TC_SYNC_ODR 0x0000 reserved i3c_tc_sync_odr
... - - reserved
0x7E CMD 0x0000 cmd
0x7F CFG_RES 0x0000 value_two reserved value_one
6.1.2 Register Map Details
Register (0x00) chip_id
Description: Device identification code. Only bits 0 to 7 contain valid information, the contents of bits 8 to 15 must be
ignored.
Bit 15 14 13 12 11 10 9 8
Read/Write R R R R R R R R
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 1 0 0 0 0 1 1
Value
Content chip_id
reserved:write 0x0.
CHIP_ID.chip_id: (bit offset: 0, bit width: 8) Chip identifier
Register (0x01) err_reg
Description: Reports sensor error conditions
Bit 15 14 13 12 11 10 9 8
Read/Write R R R R R/W R R R/W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved i3c_er... reserved i3c_er...
Bit 7 6 5 4 3 2 1 0
Read/Write R R R R/W R R/W R R
Reset
0 0 0 0 0 0 0 0
Value
Content reserved gyr_co... acc_co... feat_e... reserved feat_e... reserved fatal_err
reserved:write 0x0.
ERR_REG.fatal_err: (bit offset: 0, bit width: 1) Fatal Error, chip is not in operational state (Boot-, power-system).
This flag will be reset only by power-on-reset or softreset.
ERR_REG.feat_eng_ovrld: (bit offset: 2, bit width: 1) Overload of the feature engine detected. This flag is clear-on-
read.
ERR_REG.feat_eng_wd: (bit offset: 4, bit width: 1) Watchdog timer of the feature engine triggered. This flag is
clear-on-read.
ERR_REG.acc_conf_err: (bit offset: 5, bit width: 1) Unsupported accelerometer configuration set by user. This flag
will be reset when configuration has been corrected.
ERR_REG.gyr_conf_err: (bit offset: 6, bit width: 1) Unsupported gyroscope configuration set by user. This flag will
be reset when configuration has been corrected.
ERR_REG.i3c_error0: (bit offset: 8, bit width: 1) SDR parity error or read abort condition (maximum clock stall time
for I3C Read Trasfer) occurred. This flag is a clear-on-read type. It is cleared automatically once read. Refer to the
MIPI I3C specification chapter ’Master Clock Stalling’ for detail info regarding the read abort condition.
ERR_REG.i3c_error3: (bit offset: 11, bit width: 1) S0/S1 error occurred. When S0/S1 error occurs, the slave will
recover automatically after 60 us as if we see a HDR-exit pattern on the bus while the flag will persist for notification
purpose. This flag is clear-on-read type. It is cleared automatically once read.
Register (0x02) status
Description: Sensor status flags
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Read/Write R/W R/W R/W R R R R R/W
Reset
0 0 0 0 0 0 0 1
Value
Content drdy_acc drdy_gyr drdy_temp reserved por_de...
reserved:write 0x0.
STATUS.por_detected: (bit offset: 0, bit width: 1) ’1’ after device power up or soft-reset. This flag is clear-on-read.
STATUS.drdy_temp: (bit offset: 5, bit width: 1) Data ready for Temperature. This flag is clear-on-read.
STATUS.drdy_gyr: (bit offset: 6, bit width: 1) Data ready for Gyroscope. This flag is clear-on-read.
STATUS.drdy_acc: (bit offset: 7, bit width: 1) Data ready for Accelerometer. This flag is clear-on-read.
Register (0x03) acc_data_x
Description: Acceleration sample, x channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
1 0 0 0 0 0 0 0
Value
Content acc_x
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_x
ACC_DATA_X.acc_x: (bit offset: 0, bit width: 16)
Register (0x04) acc_data_y
Description: Acceleration sample, y channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
1 0 0 0 0 0 0 0
Value
Content acc_y
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_y
ACC_DATA_Y.acc_y: (bit offset: 0, bit width: 16)
Register (0x05) acc_data_z
Description: Acceleration sample, z channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
1 0 0 0 0 0 0 0
Value
Content acc_z
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_z
ACC_DATA_Z.acc_z: (bit offset: 0, bit width: 16)
Register (0x06) gyr_data_x
Description: Angular rate sample, x channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
1 0 0 0 0 0 0 0
Value
Content gyr_x
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_x
GYR_DATA_X.gyr_x: (bit offset: 0, bit width: 16)
Register (0x07) gyr_data_y
Description: Angular rate sample, y channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
1 0 0 0 0 0 0 0
Value
Content gyr_y
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_y
GYR_DATA_Y.gyr_y: (bit offset: 0, bit width: 16)
Register (0x08) gyr_data_z
Description: Angular rate sample, z channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
1 0 0 0 0 0 0 0
Value
Content gyr_z
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_z
GYR_DATA_Z.gyr_z: (bit offset: 0, bit width: 16)
Register (0x09) temp_data
Description: Temperature Data. The resolution is 512 LSB/K. 0x0000 -> 23◦ C 0x8000 -> invalid
Bit 15 14 13 12 11 10 9 8
Reset
1 0 0 0 0 0 0 0
Value
Content temp_data
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content temp_data
TEMP_DATA.temp_data: (bit offset: 0, bit width: 16) Temperature value. T (◦ C) := temp_data/512 + 23
Register (0x0A) sensor_time_0
Description: Sensor time, least significant word (15:0)
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content sensor_time_15_0
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
SENSOR_TIME_0.sensor_time_15_0: (bit offset: 0, bit width: 16) Least significant word of the sensor time (15:0)
where 1 LSB corresponds to 39.0625 us
Register (0x0B) sensor_time_1
Description: Sensor time, most significant word (31:16)
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
SENSOR_TIME_1.sensor_time_31_16: (bit offset: 0, bit width: 16) Most significant word of the sensor time (31:16)
Register (0x0C) sat_flags
Description: Saturation flags for each sensor and axis
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved satf_g... satf_g... satf_g... satf_a... satf_a... satf_a...
reserved:write 0x0.
SAT_FLAGS.satf_acc_x: (bit offset: 0, bit width: 1) Saturation flag for the accelerometer x axis in the default axes
configuration
SAT_FLAGS.satf_acc_y: (bit offset: 1, bit width: 1) Saturation flag for the accelerometer y axis in the default axes
configuration
SAT_FLAGS.satf_acc_z: (bit offset: 2, bit width: 1) Saturation flag for the accelerometer z axis in the default axes
configuration
SAT_FLAGS.satf_gyr_x: (bit offset: 3, bit width: 1) Saturation flag for the gyroscope x axis in the default axes
configuration
SAT_FLAGS.satf_gyr_y: (bit offset: 4, bit width: 1) Saturation flag for the gyroscope y axis in the default axes
configuration
SAT_FLAGS.satf_gyr_z: (bit offset: 5, bit width: 1) Saturation flag for the gyroscope z axis in the default axes
configuration
Register (0x0D) int_status_int1
Description: INT1 Status Register. This register is clear-on-read.
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content int1_f... int1_fwm int1_a... int1_g... int1_t... int1_e... int1_i3c int1_tap
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content int1_tilt int1_s... int1_s... int1_s... int1_o... int1_flat int1_a... int1_n...
INT_STATUS_INT1.int1_no_motion: (bit offset: 0, bit width: 1) No motion detection output

INT_STATUS_INT1.int1_any_motion: (bit offset: 1, bit width: 1) Any motion detection output
INT_STATUS_INT1.int1_flat: (bit offset: 2, bit width: 1) Flat detection output
INT_STATUS_INT1.int1_orientation: (bit offset: 3, bit width: 1) Orientation detection output
INT_STATUS_INT1.int1_step_detector: (bit offset: 4, bit width: 1) Step detector output
INT_STATUS_INT1.int1_step_counter: (bit offset: 5, bit width: 1) Step counter watermark output
INT_STATUS_INT1.int1_sig_motion: (bit offset: 6, bit width: 1) Sigmotion detection output
INT_STATUS_INT1.int1_tilt: (bit offset: 7, bit width: 1) Tilt detection output
INT_STATUS_INT1.int1_tap: (bit offset: 8, bit width: 1) Tap detection output
INT_STATUS_INT1.int1_i3c: (bit offset: 9, bit width: 1) I3C tc sync data ready interrupt
INT_STATUS_INT1.int1_err_status: (bit offset: 10, bit width: 1) Feature engine error or status change
INT_STATUS_INT1.int1_temp_drdy: (bit offset: 11, bit width: 1) Temperature data ready interrupt
INT_STATUS_INT1.int1_gyr_drdy: (bit offset: 12, bit width: 1) Gyroscope data ready interrupt
INT_STATUS_INT1.int1_acc_drdy: (bit offset: 13, bit width: 1) Accelerometer data ready interrupt
INT_STATUS_INT1.int1_fwm: (bit offset: 14, bit width: 1) FIFO watermark interrupt
INT_STATUS_INT1.int1_ffull: (bit offset: 15, bit width: 1) FIFO full interrupt
Register (0x0E) int_status_int2
Description: INT2 Status Register. This register is clear-on-read.
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content int2_f... int2_fwm int2_a... int2_g... int2_t... int2_e... int2_i3c int2_tap
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content int2_tilt int2_s... int2_s... int2_s... int2_o... int2_flat int2_a... int2_n...
INT_STATUS_INT2.int2_no_motion: (bit offset: 0, bit width: 1) No motion detection output

INT_STATUS_INT2.int2_any_motion: (bit offset: 1, bit width: 1) Any motion detection output
INT_STATUS_INT2.int2_flat: (bit offset: 2, bit width: 1) Flat detection output
INT_STATUS_INT2.int2_orientation: (bit offset: 3, bit width: 1) Orientation detection output
INT_STATUS_INT2.int2_step_detector: (bit offset: 4, bit width: 1) Step detector output
INT_STATUS_INT2.int2_step_counter: (bit offset: 5, bit width: 1) Step counter watermark output
INT_STATUS_INT2.int2_sig_motion: (bit offset: 6, bit width: 1) Sigmotion detection output
INT_STATUS_INT2.int2_tilt: (bit offset: 7, bit width: 1) Tilt detection output
INT_STATUS_INT2.int2_tap: (bit offset: 8, bit width: 1) Tap detection output
INT_STATUS_INT2.int2_i3c: (bit offset: 9, bit width: 1) I3C tc sync data ready interrupt
INT_STATUS_INT2.int2_err_status: (bit offset: 10, bit width: 1) Feature engine error or status change
INT_STATUS_INT2.int2_temp_drdy: (bit offset: 11, bit width: 1) Temperature data ready interrupt
INT_STATUS_INT2.int2_gyr_drdy: (bit offset: 12, bit width: 1) Gyroscope data ready interrupt
INT_STATUS_INT2.int2_acc_drdy: (bit offset: 13, bit width: 1) Accelerometer data ready interrupt
INT_STATUS_INT2.int2_fwm: (bit offset: 14, bit width: 1) FIFO watermark interrupt
INT_STATUS_INT2.int2_ffull: (bit offset: 15, bit width: 1) FIFO full interrupt
Register (0x0F) int_status_ibi
Description: I3C IBI Status Register. This register is clear-on-read.
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content ibi_ffull ibi_fwm ibi_ac... ibi_gy... ibi_te... ibi_er... ibi_i3c ibi_tap
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content ibi_tilt ibi_si... ibi_st... ibi_st... ibi_or... ibi_flat ibi_an... ibi_no...
INT_STATUS_IBI.ibi_no_motion: (bit offset: 0, bit width: 1) No_motion output

INT_STATUS_IBI.ibi_any_motion: (bit offset: 1, bit width: 1) Any_motion output
INT_STATUS_IBI.ibi_flat: (bit offset: 2, bit width: 1) Flat output
INT_STATUS_IBI.ibi_orientation: (bit offset: 3, bit width: 1) Orientation output
INT_STATUS_IBI.ibi_step_detector: (bit offset: 4, bit width: 1) Step detector output
INT_STATUS_IBI.ibi_step_counter: (bit offset: 5, bit width: 1) Step counter watermark output
INT_STATUS_IBI.ibi_sig_motion: (bit offset: 6, bit width: 1) Sigmotion output
INT_STATUS_IBI.ibi_tilt: (bit offset: 7, bit width: 1) Tilt output
INT_STATUS_IBI.ibi_tap: (bit offset: 8, bit width: 1) Tap output
INT_STATUS_IBI.ibi_i3c: (bit offset: 9, bit width: 1) I3C tc sync data ready interrupt
INT_STATUS_IBI.ibi_err_status: (bit offset: 10, bit width: 1) Feature engine error or status change
INT_STATUS_IBI.ibi_temp_drdy: (bit offset: 11, bit width: 1) Temperature data ready interrupt
INT_STATUS_IBI.ibi_gyr_drdy: (bit offset: 12, bit width: 1) Gyroscope data ready interrupt
INT_STATUS_IBI.ibi_acc_drdy: (bit offset: 13, bit width: 1) Accelerometer data ready interrupt
INT_STATUS_IBI.ibi_fwm: (bit offset: 14, bit width: 1) FIFO watermark interrupt
INT_STATUS_IBI.ibi_ffull: (bit offset: 15, bit width: 1) FIFO full interrupt
Register (0x10) feature_io0
Description: Feature engine configuration, before setting/changing an active configuration the register must be cleared
(set to 0)
Bit 15 14 13 12 11 10 9 8
Read/Write R/W R/W R/W R/W R/W R/W R/W R/W
Reset
0 0 0 0 0 0 0 0
Value
Content i3c_sy... tap_de... tap_de... tap_de... tilt_en sig_mo... step_c... step_d...
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content orienta... flat_en any_mo... any_mo... any_mo... no_mot... no_mot... no_mot...
FEATURE_IO0.no_motion_x_en: (bit offset: 0, bit width: 1) Enables no motion feature for X-axis
FEATURE_IO0.no_motion_y_en: (bit offset: 1, bit width: 1) Enables no motion feature for Y-axis
FEATURE_IO0.no_motion_z_en: (bit offset: 2, bit width: 1) Enables no motion feature for Z-axis
FEATURE_IO0.any_motion_x_en: (bit offset: 3, bit width: 1) Enables any motion feature for X-axis
FEATURE_IO0.any_motion_y_en: (bit offset: 4, bit width: 1) Enables any motion feature for Y-axis
FEATURE_IO0.any_motion_z_en: (bit offset: 5, bit width: 1) Enables any motion feature for Z-axis
FEATURE_IO0.flat_en: (bit offset: 6, bit width: 1) Enables flat feature
FEATURE_IO0.orientation_en: (bit offset: 7, bit width: 1) Enables orientation feature
FEATURE_IO0.step_detector_en: (bit offset: 8, bit width: 1) Enables step detector feature
FEATURE_IO0.step_counter_en: (bit offset: 9, bit width: 1) Enables step counter feature
FEATURE_IO0.sig_motion_en: (bit offset: 10, bit width: 1) Enables significant motion feature
FEATURE_IO0.tilt_en: (bit offset: 11, bit width: 1) Enables tilt feature
FEATURE_IO0.tap_detector_s_tap_en: (bit offset: 12, bit width: 1) Enables single tap feature
FEATURE_IO0.tap_detector_d_tap_en: (bit offset: 13, bit width: 1) Enables double tap feature
FEATURE_IO0.tap_detector_t_tap_en: (bit offset: 14, bit width: 1) Enables triple tap feature
FEATURE_IO0.i3c_sync_en: (bit offset: 15, bit width: 1) Enables I3C TC-sync feature.
Description: Feature engine I/O register 0
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved state axis_m... reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content sample˙.. st_result gyro_s... sc_st˙.. error_status
reserved:write 0x0.
FEATURE_IO1.error_status: (bit offset: 0, bit width: 4) Error and status information
Following values can be set to or read from the field error_status:
Value Description
0b0000 (0x0) Feature engine still inactive
0b0001 (0x1) Feature engine activated
0b0011 (0x3) Configuration string download failed
0b0101 (0x5) No error
Axis map command was not processed because either a sensor was active or
0b0110 (0x6)
self-calibration or self-test was ongoing
I3C TC-sync error because either I3C TC-sync enable request was sent while
auto-low-power feature was active or I3C TC-sync configuration command
0b1000 (0x8)
was sent with invalid TPH, TU and ODR values. For later case, invalid
configuration parameters TPH, TU and ODR will not be used.
Ongoing self-calibration (gyroscope only) or self-test (gyroscope only) was
aborted. The command was aborted either due to device movements or due
0b1001 (0x9)
to the abort command (self-calibration only) or due to a request to enable I3C
TC-sync feature (self-calibration only).
Self-calibration (gyroscope only) command ignored because either
0b1010 (0xA)
self-calibration or self-test or I3C TC-sync was ongoing
Self-test (accelerometer and/or gyroscope) command ignored because either
0b1011 (0xB)
self-calibration or self-test or I3C TC-sync was ongoing
Self-calibration (gyroscope only) or self-test (accelerometer and/or gyroscope)
command was not processed because pre-conditions were not met. Either
0b1100 (0xC)
accelerometer was not configured correctly (self-test and self-calibration
gyroscope only) or auto-low-power feature was active.
Auto-mode change feature was enabled or illegal sensor configuration change
0b1101 (0xD) detected in ACC_CONF/GYR_CONF while self-calibration or self-test was
ongoing. Self-calibration and self-test results may be inaccurate.
I3C TC-sync enable request was sent while self-test (accelerometer and/or
0b1110 (0xE)
gyroscope) was ongoing. I3C TC-sync will be enabled at the end of self-test.
Illegal sensor configuration change detected in ACC_CONF/GYR_CONF
0b1111 (0xF) while I3C TC-sync was active. Sensors are re-configured is to requested I3C
TC-sync ODR.
FEATURE_IO1.sc_st_complete: (bit offset: 4, bit width: 1) Self-calibration (gyroscope only) or self-test (accelerome-
ter and/or gyroscope) execution status. 0 indicates that the procedure is ongoing. 1 indicates that the procedure is
completed.
FEATURE_IO1.gyro_sc_result: (bit offset: 5, bit width: 1) Gyroscope self-calibration result (1=OK, 0=Not OK). Bit
sc_st_complete should be 1 prior to reading this bit.
FEATURE_IO1.st_result: (bit offset: 6, bit width: 1) Accelerometer and/or gyroscope self-test result (1=OK, 0=Not
OK). Bit sc_st_complete should be 1 prior to reading this bit.
FEATURE_IO1.sample_rate_err: (bit offset: 7, bit width: 1) Insufficient sample rate for either 50Hz or 200Hz or I3C
TC-sync feature
FEATURE_IO1.axis_map_complete: (bit offset: 10, bit width: 1) Axis mapping completed
FEATURE_IO1.state: (bit offset: 11, bit width: 2) Current state of the system
Following values can be set to or read from the field state:
Value Description
0b00 (0x0) System in feature mode
0b01 (0x1) System is executing self-calibration of gyroscope in feature mode
0b10 (0x2) System in self-test mode
0b11 (0x3) System in error mode
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content step_counter_out_0
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
FEATURE_IO2.startup_config_0: (bit offset: 0, bit width: 16) Before feature engine enable: Feature engine start-up
configuration
FEATURE_IO2.step_counter_out_0: (bit offset: 0, bit width: 16) After feature engine enable: Step counter value
word-0 (low word)
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
FEATURE_IO3.startup_config_1: (bit offset: 0, bit width: 16) Before feature engine enable: Feature engine start-up
configuration
FEATURE_IO3.step_counter_out_1: (bit offset: 0, bit width: 16) After feature engine enable: Step counter value
word-1 (high word)
Register (0x14) feature_io_status
Description: Feature I/O synchronization status and trigger
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Read/Write R R R R R R R R/W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved feature...
reserved:write 0x0.
FEATURE_IO_STATUS.feature_io_status: (bit offset: 0, bit width: 1) On read: data has been written by the feature
engine On write: data written by the host shall be sent to the feature engine
Register (0x15) fifo_fill_level
Description: FIFO fill state in words
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved fifo_fill_level
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content fifo_fill_level
reserved:write 0x0.
FIFO_FILL_LEVEL.fifo_fill_level: (bit offset: 0, bit width: 11) Current fill level of FIFO buffer An empty FIFO
corresponds to 0x000. The word counter may be reset by reading out all frames from the FIFO buffer or when the
FIFO is reset through fifo_flush. The word counter is updated each time a complete frame was read or written.
Register (0x16) fifo_data
Description: FIFO data output register
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content fifo_data
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content fifo_data
FIFO_DATA.fifo_data: (bit offset: 0, bit width: 16) FIFO read data (16 bits) Data format depends on the setting of
register FIFO_CONF. The FIFO data are organized in frames. The new data flag is preserved. Read burst access
must be used, the address will not increment when the read burst reads at the address of FIFO_DATA. When a
frame is only partially read out it is retransmitted including the header at the next readout.
Register (0x20) acc_conf
Description: Sets the output data rate, bandwidth, range and the mode of the accelerometer
Bit 15 14 13 12 11 10 9 8
Read/Write R R/W R/W R/W R R/W R/W R/W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved acc_mode reserved acc_avg_num
Bit 7 6 5 4 3 2 1 0
Reset
0 0 1 0 1 0 0 0
Value
Content acc_bw acc_range acc_odr
reserved:write 0x0.
ACC_CONF.acc_odr: (bit offset: 0, bit width: 4) Sample rate (ODR) in Hz
Following values can be set to or read from the field acc_odr:
Value Description
0b0001 (0x1) ODR = 0.78125Hz
0b0010 (0x2) ODR = 1.5625Hz
0b0011 (0x3) ODR = 3.125Hz
0b0100 (0x4) ODR = 6.25Hz
0b0101 (0x5) ODR = 12.5Hz
0b0110 (0x6) ODR = 25Hz
0b0111 (0x7) ODR = 50Hz
0b1000 (0x8) ODR = 100Hz
0b1001 (0x9) ODR = 200Hz
0b1010 (0xA) ODR = 400Hz
0b1011 (0xB) ODR = 800Hz
0b1100 (0xC) ODR = 1.6kHz
0b1101 (0xD) ODR = 3.2kHz
0b1110 (0xE) ODR = 6.4kHz
ACC_CONF.acc_range: (bit offset: 4, bit width: 3) Full scale, Resolution

Following values can be set to or read from the field acc_range:
Value Description
0b000 (0x0) +/-2g, 16.38 LSB/mg
0b001 (0x1) +/-4g, 8.19 LSB/mg
0b010 (0x2) +/-8g, 4.10 LSB/mg
0b011 (0x3) +/-16g, 2.05 LSB/mg
ACC_CONF.acc_bw: (bit offset: 7, bit width: 1) Configure the -3dB cut-off frequency for the accelerometer
Following values can be set to or read from the field acc_bw:
Value Description
0b0 (0x0) BW = acc_odr/2
0b1 (0x1) BW = acc_odr/4
ACC_CONF.acc_avg_num: (bit offset: 8, bit width: 3) Numbers of samples to be averaged

Following values can be set to or read from the field acc_avg_num:
Value Description
0b000 (0x0) No averaging; pass sample without filtering
0b001 (0x1) Averaging of 2 samples
ACC_CONF.acc_mode: (bit offset: 12, bit width: 3) Operation modes for the accelerometer
Following values can be set to or read from the field acc_mode:
Value Description
0b000 (0x0) Disables the accelerometer
0b011 (0x3) Enables the accelerometer with sensing operated in duty-cycling
Enables the accelerometer in a continuous operation mode with reduced
0b100 (0x4)
current
0b111 (0x7) Enables the accelerometer in high performance mode
Register (0x21) gyr_conf
Description: Sets the output data rate, bandwidth, range and the mode of the Gyroscope in the sensor
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved gyr_mode reserved gyr_avg_num
Bit 7 6 5 4 3 2 1 0
Reset
0 1 0 0 1 0 0 0
Value
Content gyr_bw gyr_range gyr_odr
reserved:write 0x0.
GYR_CONF.gyr_odr: (bit offset: 0, bit width: 4) Sample rate (ODR) in Hz
Following values can be set to or read from the field gyr_odr:
Value Description
0b0001 (0x1) ODR = 0.78125Hz
0b0010 (0x2) ODR = 1.5625Hz
0b0011 (0x3) ODR = 3.125Hz
0b0100 (0x4) ODR = 6.25Hz
0b0101 (0x5) ODR = 12.5Hz
0b0110 (0x6) ODR = 25Hz
0b0111 (0x7) ODR = 50Hz
0b1000 (0x8) ODR = 100Hz
0b1001 (0x9) ODR = 200Hz
0b1010 (0xA) ODR = 400Hz
0b1011 (0xB) ODR = 800Hz
0b1100 (0xC) ODR = 1.6kHz
0b1101 (0xD) ODR = 3.2kHz
0b1110 (0xE) ODR = 6.4kHz
GYR_CONF.gyr_range: (bit offset: 4, bit width: 3) Full scale, Resolution

Following values can be set to or read from the field gyr_range:
Value Description
0b000 (0x0) +/-125 /s, 262.144 LSB/◦ /s
◦
0b001 (0x1) +/-250◦ /s, 131.2 LSB/◦ /s

0b010 (0x2) +/-500◦ /s, 65.6 LSB/◦ /s
0b011 (0x3) +/-1000◦ /s, 32.8 LSB/◦ /s
0b100 (0x4) +/-2000◦ /s, 16.4 LSB/◦ /s
GYR_CONF.gyr_bw: (bit offset: 7, bit width: 1) Configure the -3dB cut-off frequency for the gyroscope
Following values can be set to or read from the field gyr_bw:
Value Description
0b0 (0x0) BW = gyr_odr/2
0b1 (0x1) BW = gyr_odr/4
GYR_CONF.gyr_avg_num: (bit offset: 8, bit width: 3) Numbers of samples to be averaged

Following values can be set to or read from the field gyr_avg_num:
Value Description
0b001 (0x1) averaging of 2 samples
GYR_CONF.gyr_mode: (bit offset: 12, bit width: 3) Operation modes for the gyroscope
Following values can be set to or read from the field gyr_mode:
Value Description
0b000 (0x0) Disables the gyroscope
0b001 (0x1) Disables the gyroscope but keep the gyroscope drive enabled
0b011 (0x3) Enables the gyroscope with sensing operated in duty-cycling
0b100 (0x4) Enables the gyroscope in a continuous operation mode with reduced current
0b111 (0x7) Enables the gyroscope in high performance mode
Register (0x28) alt_acc_conf
Description: Sets the alternative output data rate, bandwidth, range and the mode of the accelerometer
Bit 15 14 13 12 11 10 9 8
Reset
0 0 1 1 0 0 1 0
Value
Content reserved alt_acc_mode reserved alt_acc_avg_num
Bit 7 6 5 4 3 2 1 0
Read/Write R R R R R/W R/W R/W R/W
Reset
0 0 0 0 0 1 1 0
Value
Content reserved alt_acc_odr
reserved:write 0x0.
ALT_ACC_CONF.alt_acc_odr: (bit offset: 0, bit width: 4) Sample rate (ODR) in Hz
Following values can be set to or read from the field alt_acc_odr:
Value Description
0b0001 (0x1) ODR = 0.78125Hz
0b0010 (0x2) ODR = 1.5625Hz
0b0011 (0x3) ODR = 3.125Hz
0b0100 (0x4) ODR = 6.25Hz
0b0101 (0x5) ODR = 12.5Hz
0b0110 (0x6) ODR = 25Hz
0b0111 (0x7) ODR = 50Hz
0b1000 (0x8) ODR = 100Hz
0b1001 (0x9) ODR = 200Hz
0b1010 (0xA) ODR = 400Hz
0b1011 (0xB) ODR = 800Hz
0b1100 (0xC) ODR = 1.6kHz
0b1101 (0xD) ODR = 3.2kHz
0b1110 (0xE) ODR = 6.4kHz
ALT_ACC_CONF.alt_acc_avg_num: (bit offset: 8, bit width: 3) Numbers of samples to be averaged

Following values can be set to or read from the field alt_acc_avg_num:
Value Description
ALT_ACC_CONF.alt_acc_mode: (bit offset: 12, bit width: 3) Operation modes for the accelerometer
Following values can be set to or read from the field alt_acc_mode:
Value Description
0b000 (0x0) Disables the accelerometer
0b011 (0x3) Enables the accelerometer with sensing operated in duty-cycling
Enables the accelerometer in a continuous operation mode with reduced
0b100 (0x4)
current
0b111 (0x7) Enables the accelerometer in high performance mode
Register (0x29) alt_gyr_conf
Description: Sets the alternative output data rate, bandwidth, range and the mode of the gyroscope
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 1 0 0 1 0
Value
Content reserved alt_gyr_mode reserved alt_gyr_avg_num
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 1 1 0
Value
Content reserved alt_gyr_odr
reserved:write 0x0.
ALT_GYR_CONF.alt_gyr_odr: (bit offset: 0, bit width: 4) Sample rate (ODR) in Hz
Following values can be set to or read from the field alt_gyr_odr:
Value Description
0b0001 (0x1) ODR = 0.78125Hz
0b0010 (0x2) ODR = 1.5625Hz
0b0011 (0x3) ODR = 3.125Hz
0b0100 (0x4) ODR = 6.25Hz
0b0101 (0x5) ODR = 12.5Hz
0b0110 (0x6) ODR = 25Hz
0b0111 (0x7) ODR = 50Hz
0b1000 (0x8) ODR = 100Hz
0b1001 (0x9) ODR = 200Hz
0b1010 (0xA) ODR = 400Hz
0b1011 (0xB) ODR = 800Hz
0b1100 (0xC) ODR = 1.6kHz
0b1101 (0xD) ODR = 3.2kHz
0b1110 (0xE) ODR = 6.4kHz
ALT_GYR_CONF.alt_gyr_avg_num: (bit offset: 8, bit width: 3) Numbers of samples to be averaged

Following values can be set to or read from the field alt_gyr_avg_num:
Value Description
ALT_GYR_CONF.alt_gyr_mode: (bit offset: 12, bit width: 3) Operation modes for the gyroscope
Following values can be set to or read from the field alt_gyr_mode:
Value Description
0b000 (0x0) Disables the gyroscope
0b001 (0x1) Disables the gyroscope but keep the gyroscope drive enabled
0b011 (0x3) Enables the gyroscope with sensing operated in duty-cycling
0b100 (0x4) Enables the gyroscope in a continuous operation mode with reduced current
0b111 (0x7) Enables the gyroscope in high performance mode
Register (0x2A) alt_conf
Description: Alternate configuration control
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved alt_rs...
Bit 7 6 5 4 3 2 1 0
Read/Write R R R R/W R R R R/W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved alt_gy... reserved alt_ac...
reserved:write 0x0.
ALT_CONF.alt_acc_en: (bit offset: 0, bit width: 1) Enables switching possiblility to alternate configuration for ac-
celerometer.
ALT_CONF.alt_gyr_en: (bit offset: 4, bit width: 1) Enables switching possiblility to alternate configuration for gyro-
scope.
ALT_CONF.alt_rst_conf_write_en: (bit offset: 8, bit width: 1) If enabled, any write to ACC_CONF or GYR_CONF
will instanly switch back to associated user configuration.
Register (0x2B) alt_status
Description: Reports the active configuration for the accelerometer and gyroscope
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved alt_gy... reserved alt_ac...
reserved:write 0x0.
ALT_STATUS.alt_acc_active: (bit offset: 0, bit width: 1) accel is using ALT_ACC_CONF if set; ACC_CONF other-
wise
ALT_STATUS.alt_gyr_active: (bit offset: 4, bit width: 1) gyro is using ALT_GYR_CONF if set; GYR_CONF other-
wise
Register (0x35) fifo_watermark
Description: FIFO watermark level
Bit 15 14 13 12 11 10 9 8
Read/Write R R R R R R R/W R/W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved fifo_watermark
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content fifo_watermark
reserved:write 0x0.
FIFO_WATERMARK.fifo_watermark: (bit offset: 0, bit width: 10) Trigger an interrupt when FIFO contains
fifo_watermark words
Register (0x36) fifo_conf
Description: Configuration of the FIFO data buffer behaviour
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved fifo_t... fifo_g... fifo_a... fifo_t...
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved fifo_s...
reserved:write 0x0.
FIFO_CONF.fifo_stop_on_full: (bit offset: 0, bit width: 1) Configure whether to overwrite oldest samples when the
FIFO data buffer is full
Following values can be set to or read from the field fifo_stop_on_full:
Value Description
0b0 (0x0) Continue writing to the data buffer by overwriting oldest samples
0b1 (0x1) Stop writing into the FIFO data buffer when full
FIFO_CONF.fifo_time_en: (bit offset: 8, bit width: 1) Write the sensor time into the FIFO data buffer.
Following values can be set to or read from the field fifo_time_en:
Value Description
0b0 (0x0) No sensortime is written
0b1 (0x1) Sensortime is written
FIFO_CONF.fifo_acc_en: (bit offset: 9, bit width: 1) Write 3D acceleration samples from the accelerometer into the
FIFO data buffer
Following values can be set to or read from the field fifo_acc_en:
Value Description
0b0 (0x0) No accelerometer data is written
0b1 (0x1) Accelerometer data is written
FIFO_CONF.fifo_gyr_en: (bit offset: 10, bit width: 1) Write 3D angular rate samples from the gyroscope into the
FIFO data buffer
Following values can be set to or read from the field fifo_gyr_en:
Value Description
0b0 (0x0) No gyroscope data is written
0b1 (0x1) Gyroscope data is written
FIFO_CONF.fifo_temp_en: (bit offset: 11, bit width: 1) Write temperature samples into the FIFO data buffer
Following values can be set to or read from the field fifo_temp_en:
Value Description
0b0 (0x0) No temperature data is written
0b1 (0x1) Temperature data is written
Register (0x37) fifo_ctrl
Description: Control of the FIFO data buffer
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Read/Write R R R R R R R W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved fifo_f...
reserved:write 0x0.
FIFO_CTRL.fifo_flush: (bit offset: 0, bit width: 1) Writing 0b1 clears the FIFO data buffer.
Register (0x38) io_int_ctrl
Description: Configures the electrical behavior of the interrupt pins
Bit 15 14 13 12 11 10 9 8
Read/Write R R R R R R/W R/W R/W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved int2_o... int2_od int2_lvl
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved int1_o... int1_od int1_lvl
reserved:write 0x0.
IO_INT_CTRL.int1_lvl: (bit offset: 0, bit width: 1) Configure level of INT1 pin
Following values can be set to or read from the field int1_lvl:
Value Description
0b0 (0x0) active low
0b1 (0x1) active high
IO_INT_CTRL.int1_od: (bit offset: 1, bit width: 1) Configure behavior of INT1 pin

Following values can be set to or read from the field int1_od:
Value Description
0b0 (0x0) push-pull
0b1 (0x1) open drain
IO_INT_CTRL.int1_output_en: (bit offset: 2, bit width: 1) Output enable for INT1 pin
IO_INT_CTRL.int2_lvl: (bit offset: 8, bit width: 1) Configure level of INT2 pin
Following values can be set to or read from the field int2_lvl:
Value Description
0b0 (0x0) active low
0b1 (0x1) active high
IO_INT_CTRL.int2_od: (bit offset: 9, bit width: 1) Configure behavior of INT2 pin

Following values can be set to or read from the field int2_od:
Value Description
0b0 (0x0) push-pull
0b1 (0x1) open drain
IO_INT_CTRL.int2_output_en: (bit offset: 10, bit width: 1) Output enable for INT2 pin
Register (0x39) int_conf
Description: Interrupt Configuration Register.
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved int_latch
reserved:write 0x0.
INT_CONF.int_latch: (bit offset: 0, bit width: 1) Configuration of the interrupt clear behaviour as not latched or
permanently latched.
Following values can be set to or read from the field int_latch:
Value Description
0b0 (0x0) non latched
0b1 (0x1) permanent latched
Register (0x3A) int_map1
Description: Mapping of feature engine interrupts to outputs
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content tilt_out sig_motion_out step_counter_out step_detector_out
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content orientation_out flat_out any_motion_out no_motion_out
INT_MAP1.no_motion_out: (bit offset: 0, bit width: 2) Map no motion output to either INT1 or INT2 or IBI
Following values can be set to or read from the field no_motion_out:
Value Description
0b00 (0x0) Interrupt disabled
0b01 (0x1) Mapped to INT1
0b11 (0x3) Mapped to I3C IBI
INT_MAP1.any_motion_out: (bit offset: 2, bit width: 2) Map any motion output to either INT1 or INT2 or IBI
Following values can be set to or read from the field any_motion_out:
Value Description
INT_MAP1.flat_out: (bit offset: 4, bit width: 2) Map flat output to either INT1 or INT2 or IBI
Following values can be set to or read from the field flat_out:
Value Description
INT_MAP1.orientation_out: (bit offset: 6, bit width: 2) Map orientation output to either INT1 or INT2 or IBI
Following values can be set to or read from the field orientation_out:
Value Description
INT_MAP1.step_detector_out: (bit offset: 8, bit width: 2) Map step_detector output to either INT1 or INT2 or IBI
Following values can be set to or read from the field step_detector_out:
Value Description
INT_MAP1.step_counter_out: (bit offset: 10, bit width: 2) Map step_counter watermark output to either INT1 or
INT2 or IBI
Following values can be set to or read from the field step_counter_out:
Value Description
INT_MAP1.sig_motion_out: (bit offset: 12, bit width: 2) Map sigmotion output to either INT1 or INT2 or IBI
Following values can be set to or read from the field sig_motion_out:
Value Description
INT_MAP1.tilt_out: (bit offset: 14, bit width: 2) Map tilt output to either INT1 or INT2 or IBI
Following values can be set to or read from the field tilt_out:
Value Description
Register (0x3B) int_map2
Description: Mapping of feature engine interrupts, data ready interrupts for signals and FIFO buffer interrupts to outputs
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content fifo_full_int fifo_watermark_int acc_drdy_int gyr_drdy_int
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content temp_drdy_int err_status i3c_out tap_out
INT_MAP2.tap_out: (bit offset: 0, bit width: 2) Map tap output to either INT1 or INT2 or IBI
Following values can be set to or read from the field tap_out:
Value Description
INT_MAP2.i3c_out: (bit offset: 2, bit width: 2) Map i3c output to either INT1 or INT2 or IBI
Following values can be set to or read from the field i3c_out:
Value Description
INT_MAP2.err_status: (bit offset: 4, bit width: 2) Map feature engine’s error or status change to either INT1 or INT2
or IBI
Following values can be set to or read from the field err_status:
Value Description
INT_MAP2.temp_drdy_int: (bit offset: 6, bit width: 2) Map temperature data ready interrupt to either INT1 or INT2 or
IBI
Following values can be set to or read from the field temp_drdy_int:
Value Description
INT_MAP2.gyr_drdy_int: (bit offset: 8, bit width: 2) Map gyro data ready interrupt to either INT1 or INT2 or IBI
Following values can be set to or read from the field gyr_drdy_int:
Value Description
INT_MAP2.acc_drdy_int: (bit offset: 10, bit width: 2) Map accel data ready interrupt to either INT1 or INT2 or IBI
Following values can be set to or read from the field acc_drdy_int:
Value Description
INT_MAP2.fifo_watermark_int: (bit offset: 12, bit width: 2) Map FIFO watermark interrupt to either INT1 or INT2 or
IBI
Following values can be set to or read from the field fifo_watermark_int:
Value Description
INT_MAP2.fifo_full_int: (bit offset: 14, bit width: 2) Map FIFO full interrupt to either INT1 or INT2 or IBI
Following values can be set to or read from the field fifo_full_int:
Value Description
Register (0x40) feature_ctrl
Description: Feature engine control register
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved engine_en
reserved:write 0x0.
FEATURE_CTRL.engine_en: (bit offset: 0, bit width: 1) Enable or disable the feature engine. Note: a soft-reset is
required to re-enable the feature engine.
Register (0x41) feature_data_addr
Description: Adress register for feature data: configurations and extended output
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved data_address
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content data_address
reserved:write 0x0.
FEATURE_DATA_ADDR.data_address: (bit offset: 0, bit width: 11) Start address for the feature data, that is feature
configurations and extended feature output
Register (0x42) feature_data_tx
Description: I/O port for the data values of the feature engine
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content data_tx_value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content data_tx_value
FEATURE_DATA_TX.data_tx_value: (bit offset: 0, bit width: 16) Data port for DMA transfers.
Register (0x43) feature_data_status
Description: Status of the data access to the feature engine
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved data_t... data_o...
reserved:write 0x0.
FEATURE_DATA_STATUS.data_outofbound_err: (bit offset: 0, bit width: 1) Too much data read or written to the
feature engine. Bit will be reset upon next data transfer to or from the feature engine.
FEATURE_DATA_STATUS.data_tx_ready: (bit offset: 1, bit width: 1) Data is writeable to the feature engine or readable
from the feature engine.
Register (0x45) feature_engine_status
Description: Status of the feature engine
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved watchdo... disable... data_t... reserved overload sleep
reserved:write 0x0.
FEATURE_ENGINE_STATUS.sleep: (bit offset: 0, bit width: 1) Feature engine halted or sleeping.
FEATURE_ENGINE_STATUS.overload: (bit offset: 1, bit width: 1) Transfer of data to or from the feature engine is
ongoing.
FEATURE_ENGINE_STATUS.data_tx_active: (bit offset: 3, bit width: 1) DMA controller has started DMA and DMA
transactions are ongoing
FEATURE_ENGINE_STATUS.disabled_by_host: (bit offset: 4, bit width: 1) Feature engine was disabled by the host.
Perform a soft-reset to re-enable the feature engine.
FEATURE_ENGINE_STATUS.watchdog_not_ack: (bit offset: 5, bit width: 1) The feature engine did not acknowledge its
internal watchdog in time. Perform a soft-reset to re-enable the feature engine.
Register (0x47) feature_event_ext
Description: Register of extended data on feature events. The register content is valid in combination with an active bit
in INT_STATUS_INT1/2
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved t_tap d_tap s_tap orienta... orientation_portrait_landscape
reserved:write 0x0.
FEATURE_EVENT_EXT.orientation_portrait_landscape: (bit offset: 0, bit width: 2) Output value of the orientation
detection feature. Value after device initialization is 0b00 i.e. Portrait upright
Following values can be set to or read from the field orientation_portrait_landscape:
Value Description
0b00 (0x0) Portrait upright orientation
0b01 (0x1) Landscape left orientation
0b10 (0x2) Portrait upside down orientation
0b11 (0x3) Landscape right orientation
FEATURE_EVENT_EXT.orientation_faceup_down: (bit offset: 2, bit width: 1) Output value of face down face up
orientation (only if ud_en is enabled). Value after device initialization is 0b0 i.e. Face up
Following values can be set to or read from the field orientation_faceup_down:
Value Description
0b0 (0x0) Face up orientation
0b1 (0x1) Face down orientation
FEATURE_EVENT_EXT.s_tap: (bit offset: 3, bit width: 1) Single tap detected

FEATURE_EVENT_EXT.d_tap: (bit offset: 4, bit width: 1) Double tap detected
FEATURE_EVENT_EXT.t_tap: (bit offset: 5, bit width: 1) Triple tap detected
Register (0x4F) io_pdn_ctrl
Description: Pull down behavior control
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved anaio_...
reserved:write 0x0.
IO_PDN_CTRL.anaio_pdn_dis: (bit offset: 0, bit width: 1) Disable the pull down on the PIN2 and PIN3
Register (0x50) io_spi_if
Description: Configuration register for the SPI interface
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved spi3_en
reserved:write 0x0.
IO_SPI_IF.spi3_en: (bit offset: 0, bit width: 1) Enable or disable the 3-wire SPI interface. 0b0 enables the default
4-wire configuration, 0b1 enables the 3-wire configuration.
Register (0x51) io_pad_strength
Description: Configuration register for the electrical characteristics of the pads
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 1 0 1 0
Value
Content reserved if_i2c... if_drv
reserved:write 0x0.
IO_PAD_STRENGTH.if_drv: (bit offset: 0, bit width: 3) Generic drive strength control for the output pads: 0:=weakest;
7:=strongest
IO_PAD_STRENGTH.if_i2c_boost: (bit offset: 3, bit width: 1) Enable or disable the drive strength for SDX when
interfacing via I2C. 0b1 enables the default increased drive strength, 0b0 does not increase the drive strength.
Register (0x52) io_i2c_if
Description: Configuration register for the I2C interface
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved watchdo... watchdo...
reserved:write 0x0.
IO_I2C_IF.watchdog_timer_sel: (bit offset: 0, bit width: 1) Select the timer period for the I2C watchdog
Following values can be set to or read from the field watchdog_timer_sel:
Value Description
0b0 (0x0) I2C watchdog timeout after 1.25 ms
0b1 (0x1) I2C watchdog timeout after 40 ms
IO_I2C_IF.watchdog_timer_en: (bit offset: 1, bit width: 1) Enable or disable the watchdog for the I2C interface.
Disable this feature when using I3C or SPI
Register (0x53) io_odr_deviation
Description: ODR Deviation Trim Register (OTP backed) - User mirror register
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved odr_deviation
reserved:write 0x0.
IO_ODR_DEVIATION.odr_deviation: (bit offset: 0, bit width: 5) ODR clock deviation
Register (0x60) acc_dp_off_x
Description: Data path register for the accelerometer offset of axis x
Bit 15 14 13 12 11 10 9 8
Read/Write R R R/W R/W R/W R/W R/W R/W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved acc_dp_off_x
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_dp_off_x
reserved:write 0x0.
ACC_DP_OFF_X.acc_dp_off_x: (bit offset: 0, bit width: 14) Data path register for the temperature independent ac-
celerometer offset of axis x: 1 LSB = 30.52ug; 0x1000 -> invalid
Register (0x61) acc_dp_dgain_x
Description: Data path register for the accelerometer re-scale of axis x
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_dp_dgain_x
reserved:write 0x0.
ACC_DP_DGAIN_X.acc_dp_dgain_x: (bit offset: 0, bit width: 8) Data path register for the temperature independent
accelerometer re-scale of axis x: covers ±3.125% of sensitivity
Register (0x62) acc_dp_off_y
Description: Data path register for the accelerometer offset of axis y
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved acc_dp_off_y
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_dp_off_y
reserved:write 0x0.
ACC_DP_OFF_Y.acc_dp_off_y: (bit offset: 0, bit width: 14) Data path register for the temperature independent ac-
celerometer offset of axis y: 1 LSB = 30.52ug; 0x1000 -> invalid
Register (0x63) acc_dp_dgain_y
Description: Data path register for the accelerometer re-scale of axis y
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_dp_dgain_y
reserved:write 0x0.
ACC_DP_DGAIN_Y.acc_dp_dgain_y: (bit offset: 0, bit width: 8) Data path register for the temperature independent
accelerometer re-scale of axis y: covers ±3.125% of sensitivity
Register (0x64) acc_dp_off_z
Description: Data path register for the accelerometer offset of axis z
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved acc_dp_off_z
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_dp_off_z
reserved:write 0x0.
ACC_DP_OFF_Z.acc_dp_off_z: (bit offset: 0, bit width: 14) Data path register for the temperature independent ac-
celerometer offset of axis z: 1 LSB = 30.52ug; 0x1000 -> invalid
Register (0x65) acc_dp_dgain_z
Description: Data path register for the accelerometer re-scale of axis z
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_dp_dgain_z
reserved:write 0x0.
ACC_DP_DGAIN_Z.acc_dp_dgain_z: (bit offset: 0, bit width: 8) Data path register for the temperature independent
accelerometer re-scale of axis z: covers ±3.125% of sensitivity
Register (0x66) gyr_dp_off_x
Description: Data path register for the gyroscope offset of axis x
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved gyr_dp_off_x
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_dp_off_x
reserved:write 0x0.
GYR_DP_OFF_X.gyr_dp_off_x: (bit offset: 0, bit width: 10) Data path register for the temperature independent gyro-
scope offset of axis x: 1 LSB = 0.061◦ /s; 0x200 -> invalid
Register (0x67) gyr_dp_dgain_x
Description: Data path register for the gyroscope re-scale of axis x
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Read/Write R R/W R/W R/W R/W R/W R/W R/W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved gyr_dp_dgain_x
reserved:write 0x0.
GYR_DP_DGAIN_X.gyr_dp_dgain_x: (bit offset: 0, bit width: 7) Data path register for the temperature independent
gyroscope re-scale of axis x: covers ±12.5% of sensitivity
Register (0x68) gyr_dp_off_y
Description: Data path register for the gyroscope offset of axis y
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved gyr_dp_off_y
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_dp_off_y
reserved:write 0x0.
GYR_DP_OFF_Y.gyr_dp_off_y: (bit offset: 0, bit width: 10) Data path register for the temperature independent gyro-
scope offset of axis y: 1 LSB = 0.061◦ /s; 0x200 -> invalid
Register (0x69) gyr_dp_dgain_y
Description: Data path register for the gyroscope re-scale of axis y
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved gyr_dp_dgain_y
reserved:write 0x0.
GYR_DP_DGAIN_Y.gyr_dp_dgain_y: (bit offset: 0, bit width: 7) Data path register for the temperature independent
gyroscope re-scale of axis y: covers ±12.5% of sensitivity
Register (0x6A) gyr_dp_off_z
Description: Data path register for the gyroscope offset of axis z
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved gyr_dp_off_z
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_dp_off_z
reserved:write 0x0.
GYR_DP_OFF_Z.gyr_dp_off_z: (bit offset: 0, bit width: 10) Data path register for the temperature independent gyro-
scope offset of axis z: 1 LSB = 0.061◦ /s; 0x200 -> invalid
Register (0x6B) gyr_dp_dgain_z
Description: Data path register for the gyroscope re-scale of axis z
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved gyr_dp_dgain_z
reserved:write 0x0.
GYR_DP_DGAIN_Z.gyr_dp_dgain_z: (bit offset: 0, bit width: 7) Data path register for the temperature independent
gyroscope re-scale of axis z: covers ±12.5% of sensitivity
Register (0x70) i3c_tc_sync_tph
Description: I3C Timing Control Sync TPH Register
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content i3c_tc_sync_tph
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content i3c_tc_sync_tph
I3C_TC_SYNC_TPH.i3c_tc_sync_tph: (bit offset: 0, bit width: 16) I3C Timing Control Sync TPH Register
Register (0x71) i3c_tc_sync_tu
Description: I3C Timing Control Sync TU Register
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content i3c_tc_sync_tu
reserved:write 0x0.
I3C_TC_SYNC_TU.i3c_tc_sync_tu: (bit offset: 0, bit width: 8) I3C Timing Control Sync TU Register
Register (0x72) i3c_tc_sync_odr
Description: I3C Timing Control Sync ODR Register
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content i3c_tc_sync_odr
reserved:write 0x0.
I3C_TC_SYNC_ODR.i3c_tc_sync_odr: (bit offset: 0, bit width: 8) I3C Timing Control Sync ODR Register
Register (0x7E) cmd
Description: Command Register
Bit 15 14 13 12 11 10 9 8
Read/Write W W W W W W W W
Reset
0 0 0 0 0 0 0 0
Value
Content cmd
Bit 7 6 5 4 3 2 1 0
Read/Write W W W W W W W W
Reset
0 0 0 0 0 0 0 0
Value
Content cmd
CMD.cmd: (bit offset: 0, bit width: 16) Available commands (Note: Register will always return 0x00 as read result)
Following values can be set to or read from the field cmd:
Value Description
Trigger the self-test of the device. Default scope of the self-test is a test of the
0x100 accelerometer and gyroscope. Notes: an enabled feature engine is required;
further settings are possible via the feature engine data interface.
Trigger the self-calibration of the gyroscope. Notes: an enabled feature engine
0x101
is required; further settings are possible via the feature engine data interface.
0x200 Abort a running self-calibration of the gyroscope.
Update the configuration of the I3C timing control synchonronous feature
0x201 written to all or any of I3C_TC_SYNC_TPH, I3C_TC_SYNC_TU and
I3C_TC_SYNC_ODR.
0x300 Axis mapping gets updated
Triggers a soft reset, that is all user configurations data registers are
0xDEAF
overwritten with their default state and the feature engine is reset.
Register (0x7F) cfg_res
Description: Reserved configuration
Bit 15 14 13 12 11 10 9 8
Read/Write R/W R/W R R R R R R
Reset
0 0 0 0 0 0 0 0
Value
Content value_two reserved
Bit 7 6 5 4 3 2 1 0
Read/Write R R R R/W R/W R/W R/W R/W
Reset
0 0 0 0 0 0 0 0
Value
Content reserved value_one
reserved:write 0x0.
CFG_RES.value_one: (bit offset: 0, bit width: 5) value
CFG_RES.value_two: (bit offset: 14, bit width: 2) value
6.2 Extended Register Map Description
The extended configuration and input/output of the feature engine has to be done through the feature engine data
interface. The data can be read from or written through FEATURE_DATA_TX to an address in the extended register map
configured in FEATURE_DATA_ADDR by a data exchange transaction. A transaction consists of writing the address to
FEATURE_DATA_ADDR and then continuously reading all data from or writing all data to FEATURE_DATA_TX, see Fig. 28.
When reading and writing data via this interface, there must be no communication to any other register before the read
or write transaction is complete.
Figure 28 : Data transfer to and from the extended register
Otherwise, the written or received data is invalid. The status of the data transfer is reported in the register
FEATURE_DATA_STATUS:
FEATURE_DATA_STATUS.data_tx_ready is set by the device to 0b1, if data can be read from or written to the device
FEATURE_DATA_STATUS.data_outofbound_err is set by the device to 0b1, if data is tried to be read from or written to
outside the specified register address range
6.2.1 Extended Register Map Overview
Table 37 provides an overview of the extended register map of the device.
Table 37 : Extended register map overview

Reset
value
0x3E SYNC_TIME 0x0000 time_lsw
0x3D SYNC_TEMP 0x0000 temp
0x3C SYNC_GYR_Z 0x0000 gyr_z
0x3B SYNC_GYR_Y 0x0000 gyr_y
0x3A SYNC_GYR_X 0x0000 gyr_x
0x39 SYNC_ACC_Z 0x0000 acc_z
0x38 SYNC_ACC_Y 0x0000 acc_y
0x37 SYNC_ACC_X 0x0000 acc_x
0x36 I3C_TC 0x0000 reserved i3c_tc...
0x35 GYR_MOT_DET 0x0000 reserved slope
0x34 SC_ST_VALUE12 0x0000 reserved ref_z ref_y ref_x
0x33 SC_ST_VALUE11 0x0000 value
0x2F SC_ST_VALUE7 0x0000 value
0x2E SC_ST_VALUE6 0x0000 value
0x2D SC_ST_VALUE5 0x0000 value
0x2C SC_ST_VALUE4 0x0000 value
0x2B SC_ST_VALUE3 0x0000 value
0x2A SC_ST_VALUE2 0x0000 value
0x27 GYR_SC_ST_CONF 0x0B76 reserved gyr_sc_st_conf... offs_filtercoeff sens_filtercoeff reserved
0x26 GYR_SC_SELECT 0x0007 reserved apply_... offs_en sens_en
0x25 ST_SELECT 0x0003 reserved gyr_st... acc_st...
0x24 ST_RESULT 0x0000 reserved gyr_dr... gyr_se... gyr_se... gyr_se... acc_se... acc_se... acc_se...
0x23 ALT_CONFIG_CHG 0x0000 reserved alt_conf_user_switch_src_select alt_conf_alt_switch_src_select
0x22 TILT_2 0xF069 beta_acc_mean
0x21 TILT_1 0xD264 min_tilt_angle segment_size
Table 37 : Extended register map overview (continued)

Reset
value
0x20 TAP_3 0x6864 quite_time_after_gesture min_quite_dur_between_taps tap_shock_settling_dur max_dur_between_peaks
0x1F TAP_2 0x402D max_gesture_dur tap_peak_thres
0x1E TAP_1 0x0076 reserved mode max_peaks_for_tap wait_f... axis_sel
0x1D ORIENT_2 0x20CD hysteresis slope_thres
0x1C ORIENT_1 0x2CFC hold_time theta blocking mode ud_en
0x1B SC_12 0x0000 reserved device_context mcr_threshold mean_c... step_duration_thres step_d...
0x1A SC_11 0xA04A step_duration_window step_duration_max
0x19 SC_10 0xF3C3 activity_detection_thres activity_detection_factor
0x18 SC_9 0x0C0C peak_duration_min_running peak_duration_min_walking
0x17 SC_8 0x2017 reserved step_counter_increment filter˙.. step_buffer_size
0x16 SC_7 0xFD54 mean_step_dur
0x15 SC_6 0xEAC8 mean_val_decay
0x14 SC_5 0xD938 env_coef_down
0x13 SC_4 0x0084 env_min_dist_down
0x12 SC_3 0xF1CC env_coef_up
0x11 SC_2 0x0132 env_min_dist_up
0x10 SC_1 0x0000 reserved reset_... watermark_level
0x0F SIGMO_3 0x4653 mcr_max peak_2_peak_max
0x0E SIGMO_2 0x4426 mcr_min peak_2_peak_min
0x0D SIGMO_1 0x00FA block_size
0x0C FLAT_2 0x09CD hysteresis slope_thres
0x0B FLAT_1 0x2088 hold_time blocking theta
0x0A NOMO_3 0x600A wait_time duration
0x09 NOMO_2 0x0002 reserved hysteresis
0x08 NOMO_1 0x100A reserved acc_re... slope_thres
0x07 ANYMO_3 0x600A wait_time duration
0x06 ANYMO_2 0x0002 reserved hysteresis
0x05 ANYMO_1 0x100A reserved acc_re... slope_thres
... - - reserved
0x03 AXIS_MAP_1 0x0000 reserved invert_z invert_y invert_x axis_map
0x02 GEN_SET_1 0x0006 reserved sw_lock int_hold_dur event_...
... - - reserved
6.2.2 Extended Register Map Details
Register (0x02) gen_set_1
Description: Common register settings
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 1 1 0
Value
Content reserved sw_lock int_hold_dur event_...
reserved:write 0x0.
GEN_SET_1.event_report_mode: (bit offset: 0, bit width: 1) Configuration of the reporting mode
Following values can be set to or read from the field event_report_mode:
Value Description
0b0 (0x0) All detected events are reported.
0b1 (0x1) Report first detected event, then keep silent.
GEN_SET_1.int_hold_dur: (bit offset: 1, bit width: 4) Interrupt hold time duration. Range 0 to 13. Hold time =
0.625ms * ( 2 ^interrupt_hold_duration) i.e 0.625ms to 5120ms. If set above 13, then hold time input is considered
as 13. Default is 5ms. The hold time is only applicable for interrupts A..I in non-latched mode. Deviation up to
+/- 1.25ms + ODR accuracy deviation. If tap detector is active the hold time MUST NOT be 5ms if not applied the
enhanced configuration prior via ’bmi3x0_configure_enhanced_flexibility’ (sensor driver API)
GEN_SET_1.sw_lock: (bit offset: 5, bit width: 1) Reserved
Register (0x03) axis_map_1
Description: Describes axis map settings
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved invert_z invert_y invert_x axis_map
reserved:write 0x0.
AXIS_MAP_1.axis_map: (bit offset: 0, bit width: 3) Map accelerometer and gyroscope axis to desired configuration
Following values can be set to or read from the field axis_map:
Value Description
0b000 (0x0) x=x; y=y; z=z;
0b001 (0x1) x=y; y=x; z=z;
0b010 (0x2) x=x; y=z; z=y;
0b011 (0x3) x=z; y=x; z=y;
0b100 (0x4) x=y; y=z; z=x;
0b101 (0x5) x=z; y=y; z=x;
AXIS_MAP_1.invert_x: (bit offset: 3, bit width: 1) Invert the x axis of accelerometer and gyroscope
Following values can be set to or read from the field invert_x:
Value Description
0b0 (0x0) Clear this bit to not invert the x axis
0b1 (0x1) Set this bit to invert the x axis
AXIS_MAP_1.invert_y: (bit offset: 4, bit width: 1) Invert the y axis of accelerometer and gyroscope
Following values can be set to or read from the field invert_y:
Value Description
0b0 (0x0) Clear this bit to not invert the y axis
0b1 (0x1) Set this bit to invert the y axis
AXIS_MAP_1.invert_z: (bit offset: 5, bit width: 1) Invert the z axis of accelerometer and gyroscope
Following values can be set to or read from the field invert_z:
Value Description
0b0 (0x0) Clear this bit to not invert the z axis
0b1 (0x1) Set this bit to invert the z axis
Register (0x05) anymo_1
Description: Configuration of acceleration slope threshold and reference update mode
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 1 0 0 0 0
Value
Content reserved acc_re... slope_thres
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 1 0 1 0
Value
Content slope_thres
reserved:write 0x0.
ANYMO_1.slope_thres: (bit offset: 0, bit width: 12) Minimum slope of acceleration signal for motion detection The
field slope_thres has the following properties:
Property Value
Bitwidth 12
Sign unsigned
Unit g
Scaling 512
Default value 10/512
Range Min=0.0, Max=7.998046875
ANYMO_1.acc_ref_up: (bit offset: 12, bit width: 1) Mode of the acceleration reference update.
Following values can be set to or read from the field acc_ref_up:
Value Description
0b0 (0x0) On detection of the event
0b1 (0x1) On update of acceleration signal
The field acc_ref_up has the following properties:
Property Value
Bitwidth 1
Default value 1
Range Min=0, Max=1
Description: Configuration for hysteresis of acceleration slope
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved hysteresis
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 1 0
Value
Content hysteresis
reserved:write 0x0.
ANYMO_2.hysteresis: (bit offset: 0, bit width: 10) Hysteresis for the slope of the acceleration signal The field
hysteresis has the following properties:
Property Value
Bitwidth 10
Sign unsigned
Unit g
Scaling 512
Default value 2/512
Range Min=0.0, Max=1.998046875
Description: Configuration of timing related parameters for motion detection
Bit 15 14 13 12 11 10 9 8
Reset
0 1 1 0 0 0 0 0
Value
Content wait_time duration
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 1 0 1 0
Value
Content duration
ANYMO_3.duration: (bit offset: 0, bit width: 13) Minimum duration for which the slope shall be greater than threshold
for motion detection The field duration has the following properties:
Property Value
Bitwidth 13
Sign unsigned
Unit s
Scaling 50
Default value 0.2
Range Min=0.0, Max=163.82
ANYMO_3.wait_time: (bit offset: 13, bit width: 3) Wait time for clearing the event after slope is below threshold The
field wait_time has the following properties:
Property Value
Bitwidth 3
Sign unsigned
Unit s
Scaling 50
Default value 0.06
Register (0x08) nomo_1
Description: Configuration of acceleration slope threshold and reference update mode
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 1 0 0 0 0
Value
Content reserved acc_re... slope_thres
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 1 0 1 0
Value
Content slope_thres
reserved:write 0x0.
NOMO_1.slope_thres: (bit offset: 0, bit width: 12) Maximum slope of acceleration signal for stationary state detection
The field slope_thres has the following properties:
Property Value
Bitwidth 12
Sign unsigned
Unit g
Scaling 512
Range Min=0.0, Max=7.998046875
NOMO_1.acc_ref_up: (bit offset: 12, bit width: 1) Mode of the acceleration reference update.
Following values can be set to or read from the field acc_ref_up:
Value Description
0b0 (0x0) On detection of the event
0b1 (0x1) On update of acceleration signal
The field acc_ref_up has the following properties:
Property Value
Bitwidth 1
Default value 1
Range Min=0, Max=1
Register (0x09) nomo_2
Description: Configuration for hysteresis of acceleration slope
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved hysteresis
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 1 0
Value
Content hysteresis
reserved:write 0x0.
NOMO_2.hysteresis: (bit offset: 0, bit width: 10) Hysteresis for the slope of the acceleration signal The field hystere-
sis has the following properties:
Property Value
Bitwidth 10
Sign unsigned
Unit g
Scaling 512
Default value 2/512
Range Min=0.0, Max=1.998046875
Register (0x0A) nomo_3
Description: Configuration of timing related parameters for stationary detection
Bit 15 14 13 12 11 10 9 8
Reset
0 1 1 0 0 0 0 0
Value
Content wait_time duration
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 1 0 1 0
Value
Content duration
NOMO_3.duration: (bit offset: 0, bit width: 13) Minimum duration for which the slope shall be less than threshold for
stationary detection
The field duration has the following properties:
Property Value
Bitwidth 13
Sign unsigned
Unit s
Scaling 50
Default value 0.2
NOMO_3.wait_time: (bit offset: 13, bit width: 3) Wait time for clearing the event after slope is below threshold The
field wait_time has the following properties:
Property Value
Bitwidth 3
Sign unsigned
Unit s
Scaling 50
Default value 0.06
Register (0x0B) flat_1
Description: Settings for maximum tilt angle for flat state, blocking mode and minimum duration in state for event
detection
Bit 15 14 13 12 11 10 9 8
Reset
0 0 1 0 0 0 0 0
Value
Content hold_time
Bit 7 6 5 4 3 2 1 0
Reset
1 0 0 0 1 0 0 0
Value
Content blocking theta
FLAT_1.theta: (bit offset: 0, bit width: 6) Maximum allowed tilt angle for device to be in flat state The field theta has
the following properties:
Property Value
Bitwidth 6
Sign unsigned
Unit degrees
Scaling 64.0
Default value 20
Range Min=0, Max=44.8
Interpretation (tan(x))^2
FLAT_1.blocking: (bit offset: 6, bit width: 2) Blocking mode to prevent change of flat status during large movement
of device.
Following values can be set to or read from the field blocking:
Value Description
0b00 (0x0) Blocking is disabled
0b01 (0x1) Block if acceleration on any axis is greater than 1.5g
Block if acceleration on any axis is greater than 1.5g or slope is greater than
0b10 (0x2)
half of slope_thres
0b11 (0x3)
slope_thres
The field blocking has the following properties:
Property Value
Bitwidth 2
Default value 2
Range Min=0, Max=3
FLAT_1.hold_time: (bit offset: 8, bit width: 8) Minimum duration the device shall be in flat position for status to be
asserted The field hold_time has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit s
Scaling 50.0
Default value 0.64
Register (0x0C) flat_2
Description: Settings for consecutive sample slope and hysteresis
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 1 0 0 1
Value
Content hysteresis
Bit 7 6 5 4 3 2 1 0
Reset
1 1 0 0 1 1 0 1
Value
Content slope_thres
FLAT_2.slope_thres: (bit offset: 0, bit width: 8) Minimum slope between consecutive acceleration samples to
pervent the change of flat status during large movement The field slope_thres has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit g
Scaling 512
Default value 0.400390625
Range Min=0.0, Max=0.498046875
FLAT_2.hysteresis: (bit offset: 8, bit width: 8) Angle of hysteresis for flat detection.
The field hysteresis has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit degrees
Scaling 512
Default value 2.5
Interpretation ((tand(z)^2) - (tand(z - x)^2))/((tand(z)^2) + 1)
Register (0x0D) sigmo_1
Description: Size of the segment for detection of significant motion
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content block_size
Bit 7 6 5 4 3 2 1 0
Reset
1 1 1 1 1 0 1 0
Value
Content block_size
SIGMO_1.block_size: (bit offset: 0, bit width: 16) Size of the segment for detection of significant motion of the device
The field block_size has the following properties:
Property Value
Bitwidth 16
Sign unsigned
Unit s
Scaling 50
Default value 5.0
Register (0x0E) sigmo_2
Description: Configuration of minimum value of peak to peak acceleration magnitude and mean crossing rate
Bit 15 14 13 12 11 10 9 8
Reset
0 1 0 0 0 1 0 0
Value
Content mcr_min peak_2_peak_min
Bit 7 6 5 4 3 2 1 0
Reset
0 0 1 0 0 1 1 0
Value
Content peak_2_peak_min
SIGMO_2.peak_2_peak_min: (bit offset: 0, bit width: 10) Minimum value of the peak to peak acceleration magnitude
The field peak_2_peak_min has the following properties:
Property Value
Bitwidth 10
Sign unsigned
Unit g
Scaling 512
Range Min=0.0, Max=1.998046875
SIGMO_2.mcr_min: (bit offset: 10, bit width: 6) Minimum number of mean crossing per second in acceleration
magnitude
The field mcr_min has the following properties:
Property Value
Bitwidth 6
Default value 17
Range Min=0, Max=63
Register (0x0F) sigmo_3
Description: Configuration of maximum value of peak to peak acceleration magnitude and mean crossing rate
Bit 15 14 13 12 11 10 9 8
Reset
0 1 0 0 0 1 1 0
Value
Content mcr_max peak_2_peak_max
Bit 7 6 5 4 3 2 1 0
Reset
0 1 0 1 0 0 1 1
Value
Content peak_2_peak_max
SIGMO_3.peak_2_peak_max: (bit offset: 0, bit width: 10) Maximum value of the peak to peak acceleration magnitude
The field peak_2_peak_max has the following properties:
Property Value
Bitwidth 10
Sign unsigned
Unit g
Scaling 512
Range Min=0.0, Max=1.998046875
SIGMO_3.mcr_max: (bit offset: 10, bit width: 6) Maximum number of mean crossing per second in acceleration
magnitude
The field mcr_max has the following properties:
Property Value
Bitwidth 6
Default value 17
Range Min=0, Max=63
Register (0x10) sc_1
Description: Configuration for step counter watermark and global reset
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved reset_... watermark_level
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content watermark_level
reserved:write 0x0.
SC_1.watermark_level: (bit offset: 0, bit width: 10) An interrupt will be triggered every time the difference in number
of steps counted from last event is equal to set value. If 0, the interrupt is disabled.
The field watermark_level has the following properties:
Property Value
Bitwidth 10
Sign unsigned
Scaling 20
Default value 0
Range Min=0, Max=1023
SC_1.reset_counter: (bit offset: 10, bit width: 1) Reset the accumulated step count value The field reset_counter
has the following properties:
Property Value
Bitwidth 1
Sign unsigned
Default value 0
Range Min=0, Max=1
Description: Threshold for upper peak of acceleration magnitude for step detection
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 1
Value
Content env_min_dist_up
Bit 7 6 5 4 3 2 1 0
Reset
0 0 1 1 0 0 1 0
Value
Content env_min_dist_up
SC_2.env_min_dist_up: (bit offset: 0, bit width: 16) Threshold for upper peak of acceleration magnitude for step
detection
The field env_min_dist_up has the following properties:
Property Value
Bitwidth 16
Sign unsigned
Unit g
Scaling 2048.0
Range Min=0.0, Max=15.99951171875
Description: Adaptive upper peak threshold decay coefficient
Bit 15 14 13 12 11 10 9 8
Reset
1 1 1 1 0 0 0 1
Value
Content env_coef_up
Bit 7 6 5 4 3 2 1 0
Reset
1 1 0 0 1 1 0 0
Value
Content env_coef_up
SC_3.env_coef_up: (bit offset: 0, bit width: 16) Adaptive upper peak threshold decay coefficient
The field env_coef_up has the following properties:
Property Value
Bitwidth 16
Sign unsigned
Scaling 65536.0
Range Min=0.0, Max=0.999984741210938
Description: Threshold for lower peak of acceleration magnitude for step detection
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content env_min_dist_down
Bit 7 6 5 4 3 2 1 0
Reset
1 0 0 0 0 1 0 0
Value
Content env_min_dist_down
SC_4.env_min_dist_down: (bit offset: 0, bit width: 16) Threshold for lower peak of acceleration magnitude for step
detection
The field env_min_dist_down has the following properties:
Property Value
Bitwidth 16
Sign unsigned
Unit g
Scaling 2048.0
Range Min=0.0, Max=15.99951171875
Description: Adaptive lower peak threshold decay coefficient
Bit 15 14 13 12 11 10 9 8
Reset
1 1 0 1 1 0 0 1
Value
Content env_coef_down
Bit 7 6 5 4 3 2 1 0
Reset
0 0 1 1 1 0 0 0
Value
Content env_coef_down
SC_5.env_coef_down: (bit offset: 0, bit width: 16) Adaptive lower peak threshold decay coefficient
The field env_coef_down has the following properties:
Property Value
Bitwidth 16
Sign unsigned
Scaling 65536.0
Range Min=0.0, Max=0.999984741210938
Description: Exponential smoothing filter coefficient for computing mean of acceleration magnitude
Bit 15 14 13 12 11 10 9 8
Reset
1 1 1 0 1 0 1 0
Value
Content mean_val_decay
Bit 7 6 5 4 3 2 1 0
Reset
1 1 0 0 1 0 0 0
Value
Content mean_val_decay
SC_6.mean_val_decay: (bit offset: 0, bit width: 16) Exponential smoothing filter coefficient for computing mean of
acceleration magnitude
The field mean_val_decay has the following properties:
Property Value
Bitwidth 16
Sign unsigned
Scaling 65536.0
Range Min=0.0, Max=0.999984741210938
Description: Exponential smoothing filter coefficient for computing mean duration between steps
Bit 15 14 13 12 11 10 9 8
Reset
1 1 1 1 1 1 0 1
Value
Content mean_step_dur
Bit 7 6 5 4 3 2 1 0
Reset
0 1 0 1 0 1 0 0
Value
Content mean_step_dur
SC_7.mean_step_dur: (bit offset: 0, bit width: 16) Exponential smoothing filter coefficient for computing mean dura-
tion between steps
The field mean_step_dur has the following properties:
Property Value
Bitwidth 16
Sign unsigned
Scaling 65536.0
Range Min=0.0, Max=0.999984741210938
Description: Configuration of step buffer size, filter cascading and step counter increment factor
Bit 15 14 13 12 11 10 9 8
Reset
0 0 1 0 0 0 0 0
Value
Content reserved step_counter_increment
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 1 0 1 1 1
Value
Content step_counter_increment filter˙.. step_buffer_size
reserved:write 0x0.
SC_8.step_buffer_size: (bit offset: 0, bit width: 4) Minimum number of consecutive steps to be detected for
updating step count
The field step_buffer_size has the following properties:
Property Value
Bitwidth 4
Default value 7
Range Min=0, Max=15
SC_8.filter_cascade_enabled: (bit offset: 4, bit width: 1) Enable or disable cascading of filters

The field filter_cascade_enabled has the following properties:
Property Value
Bitwidth 1
Default value 1
Range Min=0, Max=1
SC_8.step_counter_increment: (bit offset: 5, bit width: 9) Scale factor for the step count to handle overcounting to
undercounting
The field step_counter_increment has the following properties:
Property Value
Bitwidth 9
Scaling 256
Default value 1
Description: Configuration of minimum duration between two consecutive steps while walking and running
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 1 1 0 0
Value
Content peak_duration_min_running
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 1 1 0 0
Value
Content peak_duration_min_walking
SC_9.peak_duration_min_walking: (bit offset: 0, bit width: 8) Minimum duration between two consecutive steps
while walking
The field peak_duration_min_walking has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit s
Scaling 50
Default value 0.24
SC_9.peak_duration_min_running: (bit offset: 8, bit width: 8) Minimum duration between two consecutive steps
while running
The field peak_duration_min_running has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit s
Scaling 50
Default value 0.24
Description: Configuration for activity detection
Bit 15 14 13 12 11 10 9 8
Reset
1 1 1 1 0 0 1 1
Value
Content activity_detection_thres
Bit 7 6 5 4 3 2 1 0
Reset
1 1 0 0 0 0 1 1
Value
Content activity_detection_thres activity_detection_factor
SC_10.activity_detection_factor: (bit offset: 0, bit width: 4) Ratio of acceleration magnitude variance during
running to walking
The field activity_detection_factor has the following properties:
Property Value
Bitwidth 4
Default value 3
Range Min=0, Max=15
SC_10.activity_detection_thres: (bit offset: 4, bit width: 12) Acceleration magnitude variance threshold for
activity classification
The field activity_detection_thres has the following properties:
Property Value
Bitwidth 12
Sign unsigned
Unit g
Scaling 2048.0
Range Min=0.0, Max=1.99951171875
Register (0x1A) sc_11
Description: Configuration for time sparsity of step occurance
Bit 15 14 13 12 11 10 9 8
Reset
1 0 1 0 0 0 0 0
Value
Content step_duration_window
Bit 7 6 5 4 3 2 1 0
Reset
0 1 0 0 1 0 1 0
Value
Content step_duration_max
SC_11.step_duration_max: (bit offset: 0, bit width: 8) Maximum duration between two consecutive step occurance
The field step_duration_max has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit s
Scaling 50
Default value 1.48
SC_11.step_duration_window: (bit offset: 8, bit width: 8) Maximum duration since last step where next step shall
be detected to add missed step, if any
The field step_duration_window has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit s
Scaling 50
Default value 3.2
Register (0x1B) sc_12
Description: Configuration for post-processing of detected step for step count
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved device_context mcr_threshold
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content mcr_threshold mean_c... step_duration_thres step_d...
reserved:write 0x0.
SC_12.step_duration_pp_enabled: (bit offset: 0, bit width: 1) Enable or disable post-processing for duration be-
tween steps
The field step_duration_pp_enabled has the following properties:
Property Value
Bitwidth 1
Default value 0
Range Min=0, Max=1
SC_12.step_duration_thres: (bit offset: 1, bit width: 3) Scale factor for mean step duration for step processing
The field step_duration_thres has the following properties:
Property Value
Bitwidth 3
Sign unsigned
Default value 0
Range Min=0, Max=7
SC_12.mean_crossing_pp_enabled: (bit offset: 4, bit width: 1) Enable or disable post-processing of step based on
mean crossing
The field mean_crossing_pp_enabled has the following properties:
Property Value
Bitwidth 1
Default value 0
Range Min=0, Max=1
SC_12.mcr_threshold: (bit offset: 5, bit width: 5) Threshold for number of mean crossings between two consecutive
steps
The field mcr_threshold has the following properties:
Property Value
Bitwidth 5
Sign unsigned
Default value 0
Range Min=0, Max=31
SC_12.device_context: (bit offset: 10, bit width: 2) Device context selection

Following values can be set to or read from the field device_context:
Value Description
0b00 (0x0) Context of the device as smart-phone
0b01 (0x1) Unused
0b10 (0x2) Context of the device as hearable
0b11 (0x3) Context of the device as wrist wearable
The field device_context has the following properties:
Property Value
Bitwidth 2
Sign unsigned
Default value 0
Range Min=0, Max=3
Register (0x1C) orient_1
Description: Orientation general configuration flags
Bit 15 14 13 12 11 10 9 8
Reset
0 0 1 0 1 1 0 0
Value
Content hold_time theta
Bit 7 6 5 4 3 2 1 0
Reset
1 1 1 1 1 1 0 0
Value
Content theta blocking mode ud_en
ORIENT_1.ud_en: (bit offset: 0, bit width: 1) Selection of upside down orientation detection
Following values can be set to or read from the field ud_en:
Value Description
0b0 (0x0) Disable detection of upside-down position
0b1 (0x1) Enable detection of upside-down position
The field ud_en has the following properties:
Property Value
Bitwidth 1
Default value 0
Range Min=0, Max=1
ORIENT_1.mode: (bit offset: 1, bit width: 2) Selection of mode for orientation spread in the detection plane
Following values can be set to or read from the field mode:
Value Description
0b00 (0x0) Symmetrical spread of area for portrait and landscape orientations
0b01 (0x1) Area of landscape is more compared to portrait orientation
0b10 (0x2) Area of portrait is more compared to landscape orientation
The field mode has the following properties:
Property Value
Bitwidth 2
Default value 2
Range Min=0, Max=2
ORIENT_1.blocking: (bit offset: 3, bit width: 2) Blocking allows to prevent change of orientation during large move-
ment of device
Following values can be set to or read from the field blocking:
Value Description
0b00 (0x0) Blocking is disabled
0b01 (0x1) Block if acceleration on any axis is greater than 1.5g
0b10 (0x2)
half of slope_thres
0b11 (0x3)
slope_thres
The field blocking has the following properties:
Property Value
Bitwidth 2
Default value 3
Range Min=0, Max=3
ORIENT_1.theta: (bit offset: 5, bit width: 6) Maximum allowed tilt angle for device to be in flat state The field theta
has the following properties:
Property Value
Bitwidth 6
Sign unsigned
Unit degrees
Scaling 64.0
Default value 37.9764794968186
Range Min=0, Max=44.77442373390876
Interpretation (tan(x))^2
ORIENT_1.hold_time: (bit offset: 11, bit width: 5) Minimum duration the device shall be in new orientation for change
detection The field hold_time has the following properties:
Property Value
Bitwidth 5
Sign unsigned
Unit s
Scaling 50
Default value 0.1
Register (0x1D) orient_2
Description: Settings for acceleration slope and hysteresis in orientation detection
Bit 15 14 13 12 11 10 9 8
Reset
0 0 1 0 0 0 0 0
Value
Content hysteresis
Bit 7 6 5 4 3 2 1 0
Reset
1 1 0 0 1 1 0 1
Value
Content slope_thres
ORIENT_2.slope_thres: (bit offset: 0, bit width: 8) Minimum slope between consecutive acceleration samples to
prevent the change of orientation during large movement The field slope_thres has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit g
Scaling 512
Range Min=0.0, Max=0.498046875
ORIENT_2.hysteresis: (bit offset: 8, bit width: 8) Hysteresis of acceleration for orientation change detection The
field hysteresis has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit g
Scaling 512
Range Min=0.0, Max=0.498046875
Register (0x1E) tap_1
Description: Selection of the tap detection axis, gesture reporting approach, detection mode
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 1 1 1 0 1 1 0
Value
Content mode max_peaks_for_tap wait_f... axis_sel
reserved:write 0x0.
TAP_1.axis_sel: (bit offset: 0, bit width: 2) Dominant sensing axis of accelerometer along which tap gesture is
performed
Following values can be set to or read from the field axis_sel:
Value Description
0b00 (0x0) Use x-axis for tap detection
0b01 (0x1) Use y-axis for tap detection
0b10 (0x2) Use z-axis for tap detection
The field axis_sel has the following properties:
Property Value
Bitwidth 2
Default value 2
Range Min=0, Max=2
TAP_1.wait_for_timeout: (bit offset: 2, bit width: 1) Perform gesture confirmation with wait time set by
max_gesture_dur
Following values can be set to or read from the field wait_for_timeout:
Value Description
0b0 (0x0) Report the gesture when detected
0b1 (0x1) Report the gesture after confirmation
The field wait_for_timeout has the following properties:
Property Value
Bitwidth 1
Default value 1
Range Min=0, Max=1
TAP_1.max_peaks_for_tap: (bit offset: 3, bit width: 3) Maximum number of threshold crossing expected around a
tap The field max_peaks_for_tap has the following properties:
Property Value
Bitwidth 3
Default value 6
Range Min=0, Max=7
TAP_1.mode: (bit offset: 6, bit width: 2) Mode for detection of tap gesture. Default value = Normal. In stable position
of device, to improve detection accuracy, sensitive mode can be used. Under noisy scenarios, the false detection
can be suppressed with Robust mode
Following values can be set to or read from the field mode:
Value Description
0b00 (0x0) Sensitive detection mode
0b01 (0x1) Normal detection mode
0b10 (0x2) Robust detection mode
The field mode has the following properties:
Property Value
Bitwidth 2
Default value 1
Range Min=0, Max=2
Register (0x1F) tap_2
Description: Tap detector setting
Bit 15 14 13 12 11 10 9 8
Reset
0 1 0 0 0 0 0 0
Value
Content max_gesture_dur tap_peak_thres
Bit 7 6 5 4 3 2 1 0
Reset
0 0 1 0 1 1 0 1
Value
Content tap_peak_thres
TAP_2.tap_peak_thres: (bit offset: 0, bit width: 10) Minimum threshold for peak resulting from the tap The field
tap_peak_thres has the following properties:
Property Value
Bitwidth 10
Sign unsigned
Unit g
Scaling 512
Range Min=0.0, Max=1.998046875
TAP_2.max_gesture_dur: (bit offset: 10, bit width: 6) Maximum duration from first tap within the second and/or third
tap is expected to happen The field max_gesture_dur has the following properties:
Property Value
Bitwidth 6
Sign unsigned
Unit s
Scaling 25
Default value 0.64
Register (0x20) tap_3
Description: Tap detector setting
Bit 15 14 13 12 11 10 9 8
Reset
0 1 1 0 1 0 0 0
Value
Content quite_time_after_gesture min_quite_dur_between_taps
Bit 7 6 5 4 3 2 1 0
Reset
0 1 1 0 0 1 0 0
Value
Content tap_shock_settling_dur max_dur_between_peaks
TAP_3.max_dur_between_peaks: (bit offset: 0, bit width: 4) Maximum duration between positive and negative peaks
to tap The field max_dur_between_peaks has the following properties:
Property Value
Bitwidth 4
Sign unsigned
Unit s
Scaling 200
Default value 0.02
TAP_3.tap_shock_settling_dur: (bit offset: 4, bit width: 4) Maximum duration for which tap impact is observed The
field tap_shock_settling_dur has the following properties:
Property Value
Bitwidth 4
Sign unsigned
Unit s
Scaling 200
Default value 0.03
TAP_3.min_quite_dur_between_taps: (bit offset: 8, bit width: 4) Mimimum duration between two consecutive tap
impact The field min_quite_dur_between_taps has the following properties:
Property Value
Bitwidth 4
Sign unsigned
Unit s
Scaling 200
Default value 0.04
TAP_3.quite_time_after_gesture: (bit offset: 12, bit width: 4) Minimum quite duration between two gestures
The field quite_time_after_gesture has the following properties:
Property Value
Bitwidth 4
Sign unsigned
Unit s
Scaling 25
Default value 0.24
Register (0x21) tilt_1
Description: Configuration for averaging duration of reference vector and minimum tilt angle
Bit 15 14 13 12 11 10 9 8
Reset
1 1 0 1 0 0 1 0
Value
Content min_tilt_angle
Bit 7 6 5 4 3 2 1 0
Reset
0 1 1 0 0 1 0 0
Value
Content segment_size
TILT_1.segment_size: (bit offset: 0, bit width: 8) Duration for which the acceleration vector is averaged to be
reference vector
The field segment_size has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit s
Scaling 50
Default value 2.0
TILT_1.min_tilt_angle: (bit offset: 8, bit width: 8) Minimum angle by which the device shall be tilted for event
detection
The field min_tilt_angle has the following properties:
Property Value
Bitwidth 8
Sign unsigned
Unit degrees
Scaling 256
Default value 35.0
Interpretation cos(x)
Register (0x22) tilt_2
Description: Configuration for averaging of acceleration vector
Bit 15 14 13 12 11 10 9 8
Reset
1 1 1 1 0 0 0 0
Value
Content beta_acc_mean
Bit 7 6 5 4 3 2 1 0
Reset
0 1 1 0 1 0 0 1
Value
Content beta_acc_mean
TILT_2.beta_acc_mean: (bit offset: 0, bit width: 16) Exponential smoothing coefficient for computing low-pass mean
of acceleration vector
The field beta_acc_mean has the following properties:
Property Value
Bitwidth 16
Sign unsigned
Scaling 65536
Default value 2.0
Interpretation exp(2*pi/(50*x))
Register (0x23) alt_config_chg
Description: Conditions to switch to alternate or user config of the sensors
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content alt_conf_user_switch_src_select alt_conf_alt_switch_src_select
reserved:write 0x0.
ALT_CONFIG_CHG.alt_conf_alt_switch_src_select: (bit offset: 0, bit width: 4) Selection of int (none = 0,
A..I) for switch to alternate configuration mode for both accel and gyro. Invalid values will be ignored and
the last valid configuration will remain. Note: Based on the selection in ’alt_conf_alt_switch_src_select’ and
’alt_conf_user_switch_src_select’ the state transition may happen immediately into the selected mode according
to the events detected by the feature engine.
ALT_CONFIG_CHG.alt_conf_user_switch_src_select: (bit offset: 4, bit width: 4) Selection of interrupt (none
= 0, A..I) for switch to user configuration mode for both accel and gyro. Invalid values will be ignored and
the last valid configuration will remain. Note: Based on the selection in ’alt_conf_alt_switch_src_select’ and
’alt_conf_user_switch_src_select’ the state transition may happen immediately into the selected mode according
to the events detected by the feature engine.
Register (0x24) st_result
Description: Self-test (accelerometer and gyroscope) results
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved gyr_dr... gyr_se... gyr_se... gyr_se... acc_se... acc_se... acc_se...
reserved:write 0x0.
ST_RESULT.acc_sens_x_ok: (bit offset: 0, bit width: 1) Self-test of accelerometer X-axis
ST_RESULT.acc_sens_y_ok: (bit offset: 1, bit width: 1) Self-test of accelerometer Y-axis
ST_RESULT.acc_sens_z_ok: (bit offset: 2, bit width: 1) Self-test of accelerometer Z-axis
ST_RESULT.gyr_sens_x_ok: (bit offset: 3, bit width: 1) Self-test of gyroscope X-axis
ST_RESULT.gyr_sens_y_ok: (bit offset: 4, bit width: 1) Self-test of gyroscope Y-axis
ST_RESULT.gyr_sens_z_ok: (bit offset: 5, bit width: 1) Self-test of gyroscope Z-axis
ST_RESULT.gyr_drive_ok: (bit offset: 6, bit width: 1) Self-test of gyroscope drive
Register (0x25) st_select
Description: Self-test (accelerometer and gyroscope) type selection
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 1 1
Value
Content reserved gyr_st... acc_st...
reserved:write 0x0.
ST_SELECT.acc_st_en: (bit offset: 0, bit width: 1) Enable self-test of accelerometer
ST_SELECT.gyr_st_en: (bit offset: 1, bit width: 1) Enable self-test of gyroscope
Register (0x26) gyr_sc_select
Description: Self-calibration (gyroscope only) type selection
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 1 1 1
Value
Content reserved apply_... offs_en sens_en
reserved:write 0x0.
GYR_SC_SELECT.sens_en: (bit offset: 0, bit width: 1) Enable gyroscope self-calibration of sensitivity
GYR_SC_SELECT.offs_en: (bit offset: 1, bit width: 1) Enable gyroscope self-calibration of offset
GYR_SC_SELECT.apply_corr: (bit offset: 2, bit width: 1) Apply correction of offset and/or sensitivity error calculated
by gyroscope self-calibration feature
Register (0x27) gyr_sc_st_conf
Description: Self-calibration (gyroscope only) and self-test (gyroscope only) configuration and result register.
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 1 0 1 1
Value
Content reserved gyr_sc_st_conf_res offs_filtercoeff sens_filtercoeff
Bit 7 6 5 4 3 2 1 0
Read/Write R/W R/W R R R R R R
Reset
0 1 0 0 0 0 0 0
Value
Content sens_filtercoeff reserved
reserved:write 0x0.
GYR_SC_ST_CONF.sens_filtercoeff: (bit offset: 6, bit width: 3) Filter coefficient of low pass filter used during
gyroscope sensitivity self-calibration and self-test. Range = 3 to 6. Number of gyroscope samples (@1600Hz)
averaged = 2*(2^(sens_filtercoeff+2)).
GYR_SC_ST_CONF.offs_filtercoeff: (bit offset: 9, bit width: 4) Filter coefficient of low pass filter used dur-
ing gyroscope offset self-calibration. Range = 3 to 11. Number of gyroscope samples (@1600Hz) averaged =
2^(offs_filtercoeff+2).
GYR_SC_ST_CONF.gyr_sc_st_conf_res: (bit offset: 13, bit width: 2) res
Register (0x28) sc_st_value0
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
SC_ST_VALUE0.value: (bit offset: 0, bit width: 16) Value
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Register (0x2A) sc_st_value2
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Register (0x2B) sc_st_value3
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Register (0x2C) sc_st_value4
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Register (0x2D) sc_st_value5
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Register (0x2E) sc_st_value6
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Register (0x2F) sc_st_value7
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content value
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content value
Description: res
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved ref_z ref_y
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content ref_y ref_x
reserved:write 0x0.
SC_ST_VALUE12.ref_x: (bit offset: 0, bit width: 5) Reference value for X-axis
SC_ST_VALUE12.ref_y: (bit offset: 5, bit width: 5) Reference value for Y-axis
SC_ST_VALUE12.ref_z: (bit offset: 10, bit width: 5) Reference value for Z-axis
Register (0x35) gyr_mot_det
Description: Motion detection threshold common for both gyroscope self-calibration and gyroscope self-test
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved slope
reserved:write 0x0.
GYR_MOT_DET.slope: (bit offset: 0, bit width: 5) Maximum acceptable acceleration change between two accelerom-
eter samples. Range = 0 to 31. Value = 10mg + slope*5mg.
Register (0x36) i3c_tc
Description: I3C time control (TC) settings
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content reserved
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content reserved i3c_tc...
reserved:write 0x0.
I3C_TC.i3c_tc_res: (bit offset: 0, bit width: 1) reserved
Register (0x37) sync_acc_x
Description: Synchronized acceleration sample, x channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content acc_x
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_x
SYNC_ACC_X.acc_x: (bit offset: 0, bit width: 16) Synchronized acceleration sample, x channel in the default axes
configuration
Register (0x38) sync_acc_y
Description: Synchronized acceleration sample, y channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content acc_y
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_y
SYNC_ACC_Y.acc_y: (bit offset: 0, bit width: 16) Synchronized acceleration sample, y channel in the default axes
configuration
Register (0x39) sync_acc_z
Description: Synchronized acceleration sample, z channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content acc_z
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content acc_z
SYNC_ACC_Z.acc_z: (bit offset: 0, bit width: 16) Synchronized acceleration sample, z channel in the default axes
configuration
Register (0x3A) sync_gyr_x
Description: Synchronized angular rate sample, x channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_x
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_x
SYNC_GYR_X.gyr_x: (bit offset: 0, bit width: 16) Synchronized angular rate sample, x channel in the default axes
configuration
Register (0x3B) sync_gyr_y
Description: Synchronized angular rate sample, y channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_y
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_y
SYNC_GYR_Y.gyr_y: (bit offset: 0, bit width: 16) Synchronized angular rate sample, y channel in the default axes
configuration
Register (0x3C) sync_gyr_z
Description: Synchronized angular rate sample, z channel in the default axes configuration
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_z
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content gyr_z
SYNC_GYR_Z.gyr_z: (bit offset: 0, bit width: 16) Synchronized angular rate sample, z channel in the default axes
configuration
Register (0x3D) sync_temp
Description: description
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content temp
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content temp
SYNC_TEMP.temp: (bit offset: 0, bit width: 16) Synchronized temperature sample, only available after using
bmi3x0_configure_enhanced_flexibility of sensor driver API
Register (0x3E) sync_time
Description: Synchronized time stamp
Bit 15 14 13 12 11 10 9 8
Reset
0 0 0 0 0 0 0 0
Value
Content time_lsw
Bit 7 6 5 4 3 2 1 0
Reset
0 0 0 0 0 0 0 0
Value
Content time_lsw
SYNC_TIME.time_lsw: (bit offset: 0, bit width: 16) Synchronized time stamp, least significant word
7 Digital Interfaces
The device provides one serial interface to the host. It acts as a slave to the host. The serial interface is configurable to
the interface protocols SPI, I3C and I²C.
7.1 Electrical Specification
By default, the device operates in I²C mode. The interface of the device can be configured to operate in a SPI 4-wire
configuration as well. It can also be re-configured by software to work in 3-wire mode instead of 4-wire mode. All
three possible digital interfaces share partly the same pins. The mapping for the primary interface of device is given in
Table 38.
Table 38 : Pin mapping of the digital interface

Pin # Name I/O Type Description in SPI4W in SPI3W in I²C/I3C
1 SDO Digital I/O SDO Serial data output in SDO DNC GND for default I²C address
SPI 4W; I²C Address
bit-0 select in I²C mode
4 INT1 Digital I/O Interrupt pin 1 INT1 INT1 INT1
12 CSB Digital in Chip select for SPI mode CSB CSB VDDIO
13 SCx Digital in SCK for SPI serial clock ; SCK SCK SCL
SCL for I²C/ I3C serial
clock
14 SDx Digital I/O SDA serial data I/O in SDI SDA SDA
I²C/I3C; SDI serial data
input in SPI 4W; SDA
serial data I/O in SPI 3W
In Table 39, the electrical specifications of the interface pins are given.
Table 39 : Electrical specification of the digital interface

Pull-up Resistance, CSB pin Rup Internal Pull-up 75 100 140 kΩ
Resistance to
VDDIO
Input Capacitance Cin 5 pF
I²C Bus Load Capacitance (max. drive capability) Cload,I2C 400 pF
I3C Bus Load Capacitance (max. drive capability) Cload,I3C 10 50 pF
7.2 Digital Interface Protocols
7.2.1 Protocol Selection
The protocol is automatically selected based on the behavior of the signal on the chip select pin CSB after power-up.
After soft reset or power-up, the primary interface of the device is in I²C mode. If the CSB is connected to VDDIO during
power-up and not changed, the primary interface works in I²C or I3C mode. The possible switches among the modes on
the digital interface are summarized in Table 40.
For using I²C and I3C, it is recommended to hard-wire the CSB line to VDDIO. Since power-on-reset is only executed
when both VDD and VDDIO are stable, there is no risk of an incorrect protocol detection due to the power-up sequence.
If a rising edge is detected on CSB after power-up, the device interface switches after 200 µs to SPI until a soft reset or
until the next power-up occurs. Therefore, a rising edge on CSB is needed before starting the SPI communication. It
is recommended to perform a single read from a register, e.g. from CHIP_ID.chip_id, before the actual data exchange
with the device. Note: the content of the retrieved data will be invalid.
The switch from I²C to I3C follows the MIPI I3CSM specification. Upon power up, the chip stays in I²C mode and once
the dedicated Broadcast I3C Address (7’h7E) is seen on the bus, the chip will disable its I²C feature and the interface
stays in the I3C mode until a soft reset or the next power-up occurs.
Table 40 : Protocol Selection for the Digital interface

protocol switch to I²C to I3C to SPI
from I2 C n/a Device ID 7E sent dummy SPI read
from I3C power-down or soft-reset n/a dummy SPI read
from SPI power-down or soft-reset power-down or soft-reset n/a
7.2.2 Common specifications
The maximum ratings valid for all serial protocols supported by the device are given in Table 41. For SPI, the additional
specifications are given in the corresponding sub-section 7.2.3.
Table 41 : Serial interface timings

Parameter Symbol Condition Min Max Unit
fI3C Max. load on SDI or SDO 12.5 M Hz
Clock Frequency fSPI 30pF, VDDIO ≥ 1.62V 10 M Hz
fI3C , fSPI VDDIO < 1.62V 8 M Hz
Idle time after any access in any mode tIDLE,rd 2 µs
7.2.3 SPI Protocol
The dedicated timing specifications for SPI of the device in addition to Table 41 are stated in Table 42. Figure 29 shows
the definition of the SPI timings.
Table 42 : SPI timings

Parameter Symbol Condition Min Max Units
SCK Low Pulse tSCKL VDDIO ≥ 1.62V 45 ns
SCK High Pulse tSCKH VDDIO ≥ 1.62V 45 ns
SCK Low Pulse tSCKL VDDIO < 1.62V 66 ns
SCK High Pulse tSCKH VDDIO < 1.62V 66 ns
SDI Setup Time tSDI,setup 20 ns
SDI Hold Time tSDI,hold 20 ns
SDO Output Delay tSDO,OD Load = 30pF, VDDIO ≥ 1.62V 30 ns
CSB Setup Time tCSB,setup 40 ns
CSB Hold Time tCSB,hold 40 ns
Figure 29 : SPI timing diagram
The SPI interface of the device is compatible with two modes:

’00’ [CPOL = ’0’ and CPHA = ’0’]
’11’ [CPOL = ’1’ and CPHA = ’1’].
The automatic selection between ’00’ and ’11’ is controlled based on the value of the clock on the SCK pin after a falling
edge is detected on the chip select pin CSB.
Two configurations of the SPI interface are supported by the device: 4-wire and 3-wire. The protocol used by both
configurations is the same. The device operates in the 4-wire configuration by default. It can be switched to 3-wire
configuration by writing 0b1 to IO_SPI_IF.spi3_en. In the 3-wire configuration, the pin SDX is used as the common data
pin.
SPI 4-wire the pins CSB (chip select low active), SCX (as SCK for serial clock), SDX (as SDI for serial data input), and
SDO (serial data output) are used. The communication starts when CSB is pulled low by the SPI master and stops
when CSB is pulled high again. SCK is also controlled by SPI master. SDI and SDO are driven at the falling edge
of SCK and should be captured at the rising edge of SCK.
Multiple and single write operations are possible by keeping CSB low and continuing the data transfer. Only the
address of the first register has to be sent via SDX. Addresses are automatically incremented after each write
access as long as CSB stays active low. The principle of multiple write is shown in Figure 30.
csb
sck
sdi A6 A5 A4 A3 A2 A1 A0 D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13 D12 D11 D10 D9 D8
sdo
logical RnW Address[6:0] Data_1[7:0](Address) Data_1[15:8](Address) Data_2[7:0](Address+1) Data_2[15:8](Address+1)
Figure 30 : Multiple word write with the SPI protocol (4-wire)
The basic read operation waveform for 4-wire configuration is depicted in Figure 31. Please note, that the first
byte received from the device via the SDO line corresponds to a dummy byte and the 2nd byte corresponds to the
value read out of the specified register address. That means, for a basic read operation, at least two bytes have
to be read and the first byte has to be dropped and all following bytes can be interpreted.
csb
sck
sdi A6 A5 A4 A3 A2 A1 A0
sdo D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13 D12 D11 D10 D9 D8
logical RnW Address[6:0] Dummy[7:0] Data_1[7:0](Address) Data_1[15:8](Address) Data_2[7:0](Address+1) Data_2[15:8](Address+1)
Figure 31 : Multiple word read with the SPI protocol (4-wire)
Address [A6-A0]: address of the first register

Data k [7:0], Data k [15:8]: when in write mode, these are the data via the SDI, which will be written into the
address.
Data k [7:0], Data k [15:8]: when in read mode, these are the data on the SDO, which are read from the
address.
Multiple read operations are possible by keeping CSB low and continuing the data transfer. Only the first register
address has to be written. Addresses are automatically incremented after each read access as long as CSB stays
active low. Please note that the first byte received from the device via the SDO line corresponds to a dummy byte
and the 2nd byte corresponds to the value read out of the specified register address. The successive bytes read
out correspond to values of incremented register addresses. That means, for a multiple read operation of n bytes,
n+1 bytes have to be read, the first has to be dropped and the successive bytes must be interpreted.
SPI 3-wire the pins CSB (chip select low active), SCX (as SCK for serial clock), and SDX (as SDA for serial data input
and output) are used. SCK is controlled by the SPI master. While SCK is pulled high, the communication starts
when the CSB is pulled low by the SPI master and stops when CSB is pulled high again. SDX is driven (when
used as input of the device) at the falling edge of SCK and should be captured, when used as the output of the
device, at the rising edge of SCK.
In a 3-wire configuration, the protocol as such is the same as in a 4-wire configuration. The basic operation for
read and write access for 3-wire configuration is depicted in Figures 32 and 33, respectively.
csb
sck
sdx A6 A5 A4 A3 A2 A1 A0 D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13 D12 D11 D10 D9 D8
logical RnW Address[6:0] Data_1[7:0](Address) Data_1[15:8](Address) Data_2[7:0](Address+1) Data_2[15:8](Address+1)
Figure 32 : Multiple word write with the SPI protocol (3-wire)
csb
sck
sdx A6 A5 A4 A3 A2 A1 A0 D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13 D12 D11 D10 D9 D8
logical RnW Address[6:0] Dummy[7:0] Data_1[7:0](Address) Data_1[15:8](Address) Data_2[7:0](Address+1) Data_2[15:8](Address+1)
Figure 33 : Multiple word read with the SPI protocol (3-wire)
7.2.4 I3C Protocol
The device supports the I3C protocol with the features:
I3C single data rate (SDR) mode with up to 12.5 MHz data rate
I²C compatibility
In-Band Interrupt (IBI)
Timing control asynchronous 0 mode
Timing control synchronous mode
The I3C bus uses the pin SCX as SCL for serial clock and SDX as SDA for serial data input and output for the signal
lines. Both lines are connected to VDDIO externally via pull-up resistors so that they are pulled high when the bus is
free.
The I3C interface of the device is compatible with the I3CSM Improved Inter Integrated Circuit Version 1.0 from 23 De-
cember 2016, and the Frequently Asked Questions (FAQ) for MIPI I3CSM Version 1.0 from 08 December 2017 available
at http://www.mipi.org/specifications/i3c-sensor-specification.
The protocol used on the serial interface for writing data to the device consists of
write the address byte, and

then write instantly a sequence of words consisting of two bytes each.
The protocol used on the serial interface for reading data from the device consists of
write the address byte, and then

read:
two dummy bytes preceding the actual payload, and then instantly
the number of desired payload bytes/words.
7.2.4.1 I3C ModeSM
The timing specification for I3C can be retrieved from the I3C specification refered to above.
Address Range The master can assign Dynamic Addresses from an allowed set of values to the device. In addition to
the I3C Slave Address Restrictions defined in Table 9 in the section 5.1.2.2.5 of the I3CSM specification “Improved Inter
Integrated Circuit Version 1.0 – 23 December 2016”, the address 7’h7D is reserved for this device as well.
Bus Configuration The I3C protocol uses several identifiers and codes to handle communication between several
masters and slaves. For communication with this device, there are defined
the I3C provisional ID,

the Device Characteristics Register (DCR),
the Bus Characteristics Register (BCR), and
the Mandatory Byte (MDB) for IBIs.
The I3C provisional ID has the value defined in Table 43 where
Bit 12 is controlled by the level on the SDO pin, that is GND for 0b0 and VDDIO for 0b1
Bit 13 to 15 are the so-called instance ID and defined as “0b000”.
Table 43 : I3C provisional identifier
Byte Byte 5 Byte 4 Byte 3 Byte 2 Byte 1 Byte 0

Bit
of 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
byte
Bit
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
10
11
of
9
8
7
6
5
4
3
2
1
0
word
De-
Bosch Instance
IDT
scrip- MIPI member ID Device ID Reserved

group ID ID
tion
SDO
Bit
0 0 0 0 0 1 1 1 0 1 1 1 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
value
Hex
0 7 7 0 1 0 4 3 0 or 1 0 0 0
value
The value of the Device Characteristics Register (DCR) is fixed to 0xEF. The value of the Bus Characteristics Register
(BCR) is fixed to 0x26. This has the following meanings:
Bit 5 of the BCR is set to 0b0, that is the device supports solely SDR.
Bit 2 of the BCR is set to 0b1, that means that an accepted IBI is followed by the so-called mandatory byte. For
details on the mandatory byte, please refere to the IBI description in the paragraph 7.2.4.1.
The timing requirement is defined in Table 74 “I3C Open Drain Timing Parameters” and Table 75 “I3C Push-Pull Timing
Parameters for SDR and HDR-DDR Modes” in the I3CSM specification “Improved Inter Integrated Circuit Version 1.0 –
23 December 2016”.
The SDR read and write access follows the I3C specification. In the following examples are given for write operations
with Tables. 44 and 45 for single-word and multi-word writes, respectively, and for read operations with Tables. 46 and
47 for single-word and multi-word reads. For the diagrams/tables, the following color coding is applied:
transfer from the host to the device is indicated by green coloured normal text
transfer from the device to the host is indicated by orange coloured text in italics
acknowledgement from the device to the host:
with hand-off is indicated by orange coloured text in italics
without hand-off is indicated by brown coloured text in italics
drives from either host or device are indicated by magenta bold text.
In the diagrams, these abbreviations are used:
S Start
Sr Repeated start
P Stop
ACK Acknowledge
T Transition
For the examples of reading data from the device in Tables. 46 and 47, the stop (P) can be removed and replaced by a
repeated start (Sr).
Table 44 : I3C Single-Word Write Operation

Broadcast Address Specified Slave DAA Register N Address Register N Data [7:0] Register N Data [15:8]
S 7’h7E+’0’ ACK Sr 7’hDAA+’0’ ACK Address N T Data N low word T Data N high word T P/Sr
Table 45 : I3C Multi-Word Write Operation

Broadcast Address Specified Slave DAA Register M Address Register M Data [7:0] Register M Data [15:8] ...
S 7’h7E+’0’ ACK Sr 7’hDAA+’0’ ACK Address M T Data M low word T Data M high word T ...
... Register N-1 Data [7:0] Register N-1 Data [15:8] Register N Data [7:0] Register N Data [15:8]
... Data N-1 low word T Data N-1 low word T Data N low word T Data N high word T P/Sr
Table 46 : I3C Single-Word Read Operation

Broadcast Address Specified Slave DAA Register N Address
S 7’h7E+’0’ ACK Sr 7’hDAA+’0’ ACK Address N TP
Broadcast Address Specified Slave DAA dummy byte dummy byte ...
S 7’h7E+’0’ ACK Sr 7’hDAA+’0’ ACK 0x00 T 0x00 T ...
... Register N Data [7:0] Register N Data [15:8]

... Data N low word T Data N high word T P/Sr
Table 47 : I3C Single-Word Read Operation

Broadcast Address Specified Slave DAA Register M Address
S 7’h7E+’0’ ACK Sr 7’hDAA+’0’ ACK Address M TP
Broadcast Address Specified Slave DAA dummy byte dummy byte ...
S 7’h7E+’0’ ACK Sr 7’hDAA+’0’ ACK 0x00 T 0x00 T ...
... Register M Data [7:0] Register M Data [15:8] ...

... Data M low word T Data M high word T ...
... Register N-1 Data [7:0] Register N-1 Data [15:8] ...
... Data N-1 low word T Data N-1 high word T ...
... Register N Data [7:0] Register N Data [15:8]

... Data N low word T Data N high word T P/Sr
In-Band Interrupt The device supports the IBI feature as defined in the section 5.1.6.2 of the I3CSM specification
“Improved Inter Integrated Circuit Version 1.0 – 23 December 2016”.
Upon power up, the feature is disabled by default. The IBI feature can be enabled by the Common Command Code
(CCC) ENEC with the ENINT bit set to 0b1, and can be disabled by the CCC DISEC with the DISINT bit set to 0b1. Please
note, that prior to sending the CCC RSTDAA, sending of an IBI by the device has to be disabled by sending the direct
CCC DISEC to the device.
If no START is forthcoming within the Bus Available Condition, then the chip will actively pull down the SDA line to issue
a START. In case there is an IBI event, the device will emit its address into the arbitrated address header following
a START (but not following a repeated START). The payload of the device specific IBI mandatory byte is defined in
Table 48.
Table 48 : I3C In-band Interrupt Mandatory Byte Payload

Bit Purpose Description
0 FIFO Watermark IRQ or’ed with FIFO full IRQ
1 Sample ready IRQs (DRDY) of acceleration, angular rate
Specific Interrupt Identifier Field
and temperature or’ed
2 All feature IRQs or’ed
3 ... 4 0b00
5 ... 6 0b00
Interrupt Group Identifier Field
7 Defined by I3C
List of Common Command Codes Table 49 lists the Common Command Codes (CCC) supported by the device.
Table 49 : Supported I3C Common Command Codes

CCC CCC Type MIPI CCC name Description Supported
Code Requires
0x00 Broadcast Y ENEC enable events command Y
0x01 Broadcast Y DISEC disable events command Y
0x02 Broadcast Y ENTAS0 enter activity state 0 Y
0x03 Broadcast N ENTAS1 enter activity state 1 N
0x06 Broadcast Y RSTDAA reset dynamic address assignment Y
0x07 Broadcast Y ENTDAA enter dynamic address assignment Y
0x08 Broadcast N DEFSLVS define list of slaves N
0x09 Broadcast Y SETMWL set max write length N7
0x0A Broadcast Y SETMRL set max read length N7
0x0B Broadcast N ENTTM enter test mode N
0x20 Broadcast N ENTHDR0 enter HDR mode 0 Y8
0x21 Broadcast N ENTHDR1 enter HDR mode 1 N
0x22 Broadcast N ENTHDR2 enter HDR mode 2 N
0x23 Broadcast N ENTHDR3 enter HDR mode 3, reserved by MIPI N
0x28 Broadcast N SETXTIME exchange timing information Y
0x61 ... Broadcast N vendor extension - broadcast CCCs N
0x7F
0x80 Direct Y ENEC enable events command Y
0x81 Direct Y DISEC disable events command Y
0x82 Direct Y ENTAS0 enter activity state 0 Y
0x83 Direct N ENTAS1 enter activity state 1 N
0x86 Direct Y RSTDAA reset dynamic address assignment Y9
0x87 Direct N SETDASA set dynamic address assignment from static Y
address
0x88 Direct Y SETNEWDA set new dynamic address Y
0x89 Direct Y SETMWL set max write length N7
0x8A Direct Y SETMRL set max read length N7
0x8B Direct Y GETMWL get max write length N7
0x8C Direct Y GETMRL get max read length N7
0x8D Direct Y GETPID get provisional ID Y
0x8E Direct Y GETBCR get bus characteristics register Y
0x8F Direct Y GETDCR get device characteristics register Y
0x90 Direct Y GETSTATUS get device status Y
0x91 Direct N GETACCMST get accept mastership N
0x93 Direct N SETBRGTGT set bridge targets N
0x94 Direct N GETMXDS get max data speed N
0x95 Direct N GETHDRCAP get HDR capability N
0x98 Direct N SETXTIME exchange timing information Y
0x99 Direct N GETXTIME get timing information Y
0xE0 ... Direct N vendor extension - direct CCCs N
0xFE
Master Clock Stalling The I3C specification defines master clock stalling. This allows the master to stall the clock for
at most 100 µs. After this stall time, the slave may release the bus. The device releases the bus after 100 µs if a sensor
is enabled in the registers ACC_CONF or GYR_CONF. In all other cases, the device does not automatically release the bus.
In these cases, the watchdog intended for the I²C protocol may be used to detect a master hang situation. If the device
drives the SDA line for more than 1.25 or 40 ms, the device resets its interface, if the watchdog is enabled in IO_I2C_IF.
watchdog_timer_en. For details on the watchdog, see Section 7.2.4.2.
7.2.4.2 I²C Protocol in the I3C Compatibility Mode
The I²C interface of the device is compatible with the legacy support of the I²C of the standard “I3CSM Improved Inter
Integrated Circuit Version 1.0” from 23 December 2016, and the “Frequently Asked Questions (FAQ) for MIPI I3CSM
Version 1.0” from 08 December 2017 available at http://www.mipi.org/specifications/i3c-sensor-specificati
on. The timing specification and diagrams for I²C can be retrieved from this specification.
The I3C timing requirements table and I3C Legacy Mode Timing diagram on page in Table 50 and Fig 34 on the next
page are Copyright 2016 by MIPI Alliance, Inc. and reprinted with their permission10 .
Table 50 : I²C timings

Legacy Mode 400kHz / Fm Legacy Mode 1MHz / Fm+
Parameter Symbol Min Max Min Max Units
SCL clock frequency fSCL 0 0.4 0 1.0 M Hz
Setup time for a re- tSU,STA 600 − 260 − ns
peated START
Hold time for a (re- tHD,STA 600 − 260 − ns
peated) START
tLOW 1300 − 500 − ns
SCL clock low period
tDIG,L tLOW + trCL − tLOW + trCL − ns
tHIGH 600 − 260 − ns
SCL clock high period
tDIG,H tHIGH + trCL − tHIGH + trCL − ns
Data setup time tSU,DAT 100 − 50 − ns
Data hold time tHD,DAT − − − − ns
SCL signal rise time trCL 20 300 − 120 ns
VDDIO VDDIO
SCL signal fall time tfCL 20 · 5.5V 300 20 · 5.5V 120 ns
SDA signal rise time trDA 20 300 − 120 ns
SDA signal fall time tfDA 20 · V5.5V
DDIO
300 20 · VDDIO
5.5V 120 ns
Setup time for STOP tSU,STO 600 − 260 − ns
Bus free time between tBUF 1.3 − 0.5 − µs
a STOP condition and a
START condition
Pulse width of spikes tSPIKE 0 50 0 50 µs
that the spike filter must
suppress
7 These features are optional for the slave, see section Section 5.1.9.3.5 "Set/Get Max Write Length" in the MIPI I3CSM specification "Improved Inter
Integrated Circuit Version 1.0 - 23 December 2016".
8 ENTHDR0 is recognized, but the device does not support HDR operations.
9 Prior to sending the CCC RSTDAA, sending of an IBI by the device has to be disabled by sending the direct CCC DISEC to the device.
10 This material may not be disclosed, reproduced or used for any purpose other than as needed to support the use of the products of Bosch Sensortec
GmbH. MIPI provides all such material on an AS IS basis, without warranty of any kind.
Figure 34 : I²C timing diagram
Following the compatible mode defined in the I3C specification, the device supports fast mode (400 kHz fm) and fast
mode plus (1 MHz Fm+). Only the 7-bit address mode is supported.
The default I²C legacy address of the device is 7h’0b1101000 (0x68). It is used if the SDO pin is pulled to ’GND’. The
alternative address 7h’0b1101001 (0x69) is selected by pulling the SDO pin to ’VDDIO’.
The I²C legacy protocol works as follows:
START: Data transmission on the bus begins with a high to low transition on the SDA line while SCL is held high
(start condition (S) indicated by I²C bus master). Once the START signal is transferred by the master, the bus is
considered busy.
STOP: Each data transfer should be terminated by a Stop signal (P) generated by master. The STOP condition is a low
to high transition on SDA line while SCL is held high.
ACKNOWLEDGE: Each byte of data transferred must be acknowledged. It is indicated by an acknowledge bit sent by
the receiver. The transmitter must release the SDA line (no pull down) during the acknowledge pulse while the
receiver must then pull the SDA line low so that it remains stable low during the high period of the acknowledge
clock cycle.
A START immediately followed by a STOP (without SCL toggling from ’VDDIO’ to ’GND’) is not supported. If such a
combination occurs, the STOP is not recognized by the device. In the following diagrams/tables, these abbreviations
are used:
S Start
P Stop
ACK Acknowledge
RW Read / Write
In the diagrams/tables, a transfer from the host to the device is indicated by green coloured normal text while transfer
from the device to the host is indicated by orange coloured text in italics.
I²C write access I²C write access can be used to write a data word in one sequence.
The sequence begins with start condition generated by the master, followed by 7 bits slave address and a write
bit (RW = 0). The slave sends an acknowledge bit (ACK = 0) and releases the bus. Then the master sends the
one byte register address. The slave again acknowledges the transmission and waits for the two times 8 bits of
data which shall be written to the specified register address. After the slave has acknowledged the data bytes, the
master generates a stop signal and terminates the writing protocol. An example of an I²C write access is stated in
Table 51.
Table 51 : I²C Single-Word Write Operation

Start Slave Address RW ACK Register M Address (0x38) ACK Register M Data [7:0] ACK Register M Data [15:8] ACK Stop
S 001100 0 0 0 X011100 0 0 1101010 1 0 0010101 0 0 P
Multi-word writes are supported without restriction on normal registers with auto-increment as well as on special
registers with address trap. An example of an I²C multi-word write access is stated in Table 52.
Table 52 : I²C Multi-Word Write Operation

Start Slave Address RW ACK Register M Address (0x38) ACK Register M Data [7:0] ACK Register M Data [15:8] ACK
¬
S 001100 0 0 0 X011100 0 0 1101010 1 0 0010101 0 0
Register N Data [7:0] ACK Register N Data [15:8] ACK Stop

b
1010101 0 0 0101010 1 0 P
I²C read access I²C read access can be used to read one or multiple data bytes or words in one sequence.
A read sequence consists of a one-byte I²C write phase followed by the I²C read phase to read a single byte,
a single 16bit word of two bytes or multiple 16bit words. The two parts of the transmission must be separated
by a repeated start condition (S). The I²C write phase addresses the slave and sends the register address to
be read. After slave acknowledges the transmission, the master generates again a start condition and sends
the slave address together with a read bit (RW = 1). Then, the master releases the bus and waits for the data
bytes to be read out from slave. After each data byte the master has to generate an acknowledge bit (ACK = 0)
to enable further data transfer. A non-ACK by the master (NACKM) (ACK = 1) from the master stops the data
being transferred from the slave. The slave releases the bus so that the master can generate a STOP condition
and terminate the transmission. The register address is automatically incremented and, therefore, more than one
word can be sequentially read out. Once a new data read transmission starts, the start address will be set to the
register address specified since the latest I²C write command. By default the start address is set at 0x00. In this
way repetitive reads of words from the same starting address are possible.
An example of an I²C single-word read access is provided in Table 53.
Table 53 : I²C Single-Word Read Operation

Start Slave Address RW ACK Register N Address (0x38) ACK Stop
S 001100 0 0 0 X011100 0 0 P
Start Slave Address RW ACK dummy byte ACK dummy byte ACK
¬
S 001100 0 1 0 0000000 0 0 0 000000 0 0
Register N Data [7:0] ACK Register N Data [15:8] ACK Stop

b
xxxxxxx x 0 x xxxxxx x 1 P
A further example of an I²C single byte read access is provided in Table 54.
Table 54 : I²C Single Byte Read Operation

Start Slave Address RW ACK Register N Address (0x38) ACK Stop
S 001100 0 0 0 X011100 0 0 P
¬
S 001100 0 1 0 0000000 0 0 0 0000000 0
Register N Data [7:0] ACK Stop

b
xxxxxxx x 1 P
In order to prevent the I²C slave of the device to lock-up the I²C bus, a watchdog timer (WDT) is implemented.
The WDT observes internal I²C signals and resets the I²C interface if the bus is locked-up by the BMI323. The
activity and the timer period of the WDT can be configured through the bits IO_I2C_IF.watchdog_timer_en and
IO_I2C_IF.watchdog_timer_sel.
An example of an I²C read access for multiple words is given in Table. 55.
Table 55 : I²C Multi-Word Read Operation

Start Slave Address RW ACK Register M Address (0x38) ACK Stop
S 001100 0 0 0 X011100 0 0 P
¬
S 001100 0 1 0 0000000 0 0 0 000000 0 0
Register M Data [7:0] ACK Register M Data [15:8] ACK ...

b
xxxxxxx x 0 x xxxxxx x 0 ...
... Register N Data [7:0] ACK Register N Data [15:8] ACK Stop
... x x x x x x x x 0 x xxxxxx x 0 P
7.3 Digital communication

Communication Access Restriction In order to allow for the correct internal synchronization of data written to or read
from the device, certain access restrictions apply for consecutive write accesses or a write/read sequence through
the I3C and I²C interface as well as the SPI. The required waiting period depends on whether the device is
operating in normal mode or other modes.
As illustrated in Figure 35, an interface idle time of at least 2 µs is required following an operation when the device
operates in any mode.
Figure 35 : Post-Write Access Timing Constraints
8 Pin Out and Connection Diagrams
8.1 Pin Out
The Figures 36 and 37 shows the pin-out of the device from top and bottom view, respectively.
Figure 36 : Pin-out: top view
Figure 37 : Pin-out: bottom view
The Table 56 details the pin out and the connections of the individual pins of the device.
Table 56 : Pin-out and pin connections

Pin # Name I/O Type Description Connect to
in SPI 4w in SPI 3w in I²C/I3C
SDO Serial data output in
1 SDO Digital I/O SDO DNC GND for default I²C address
SPI 4W
I²C Address bit-0 select
in I²C mode
2 NC Digital I/O do not connect
3 NC Digital I/O do not connect
5 VDDIO Supply Digital I/O supply voltage VDDIO VDDIO VDDIO
1.08V ... 3.63V
6 GNDIO Ground Ground for I/O GNDIO GNDIO GNDIO
7 GND Ground Ground for digital & GND GND GND
analog
8 VDD Supply Power supply analog & VDD VDD VDD
digital domain
1.71V ... 3.63V
10 NC do not connect
11 NC do not connect
12 CSB Digital in Chip select for SPI mode CSB CSB VDDIO
SCK for SPI serial clock
13 SCx Digital in SCK SCK SCL
SCL for I²C serial clock
SDA serial data I/O in
14 SDx Digital I/O I²C/I3C SDI SDIO SDA
SDI serial data input in
SPI 4-wire
SDA serial data I/O in
SPI 3-wire
8.2 Connection Diagrams
It is recommended to use 100nF capacitors for decoupling at pin 5 (VDDIO) and pin 8 (VDD).
Figure 38 : 4-wire SPI connection
Figure 39 : 3-wire SPI connection
Figure 40 : I3C connection
Figure 41 : I²C connection
9 Package
9.1 Sensing Axis Orientation
If the sensor is accelerated and/or rotated in the indicated directions, the corresponding channels of the device will
deliver a positive acceleration and/or yaw rate signal (dynamic acceleration). If the sensor is at rest without any rotation
and the force of gravity is acting contrary to the indicated directions, the output of the corresponding acceleration channel
will be positive and the corresponding gyroscope channel will be “zero” (static acceleration).
Example: if the sensor is at rest or at uniform motion in a gravity field according to the figure given below, the output
signals are:
◦
±0g for the ax accelerometer channel and ±0 /s for the Ωx gyroscope channel
◦
±0g for the ay accelerometer channel and ±0 /s for the Ωy gyroscope channel
◦
+1g for the az accelerometer channel and ±0 /s for the Ωz gyroscope channel
Figure 42 : Definition of the sensing axes orientation for the raw device
For reference, Figure 43 below shows the smartphone device orientation with an integrated device.
Table 57 : Output value corresponding to device orientation
Sensor Orientation
(gravity vector ↓)
Output Signal X 0 g / 0 LSB +1 g / 0 g / 0 LSB -1 g / 0 g / 0 LSB 0 g / 0 LSB

+4096 LSB -4096 LSB
Output Signal Y -1 g / 0 g / 0 LSB +1 g / 0 g / 0 LSB 0 g / 0 LSB 0 g / 0 LSB
-4096 LSB +4096 LSB
Output Signal Z 0 g / 0 LSB 0 g / 0 LSB 0 g / 0 LSB 0 g / 0 LSB +1 g / -1 g /
+4096 LSB -4096 LSB
Figure 43 : Definition of the sensing axes orientation within a device
Table 57 lists all corresponding output signals on X, Y, and Z while the sensor is at rest or at uniform motion in a gravity
field under assumption of a ±8g range setting, a 16 bit resolution, and a top down gravity vector as shown above.
If the sensor axes coordinates do not match the axes coordinates of the platform, then a remapping of the axis is
required. For the accelerometer and gyroscope data, the axes remapping may be done by the sensor internal axis
remapping feature, see Section 5.11, or may be implemented in the driver of the application processor. To ensure
expected function of the advanced features according to the desired coordinate system, the remapping of the axes as
described in Section 5.11.
9.2 Dimensions
Figure 44 depicts the view from the top and the side of the package. The bottom view of the package is shown in
Figure 45.
Figure 44 : Dimensions from top and side view
Figure 45 : Dimensions from bottom view
Please note, that the Pin 1 marker must not be electrically connected.
9.3 Landing Pattern Recommendation
Figure 46 provides the recommendation for the landing pads to ensure maximum stability of the solder connections. The
Pin 1 marker must not be electrically connected. Vias underneath the package have to be avoided.
Figure 46 : Landing pattern
9.4 Marking
Mass Production
Labeling Symbol Name Remark

V Product Identifier One alphanumeric digit, fixed to "A" to identify the product
L Internal Code 1 alphanumeric digit, fixed to "L", “N” or “Y”, internal use only
CCC Counter ID Tracing identfication by three alphanumeric digits
• Pin 1 Identifier on top side
Engineering Samples
Labeling Symbol Name Remark

V Product Identifier One alphanumeric digit, fixed to "A" to identify the product
L Internal Code 1 alphanumeric digit, fixed to "E", internal use only
CCC Counter ID Tracing identfication by three alphanumeric digits
• Pin 1 Identifier on top side
9.5 Soldering Guidelines
The moisture sensitivity level of the device corresponds to JEDEC Level 1, see also
IPC/JEDEC J-STD-020E “Joint Industry Standard: Moisture/Reflow Sensitivity Classification for non-hermetic Solid
State Surface Mount Devices”
IPC/JEDEC J-STD-033D “Joint Industry Standard: Handling, Packing, Shipping and Use of Moisture/Reflow Sensi-
tive Surface Mount Devices”
Both documents are available on the JEDEC website https://www.jedec.org/.
The sensor fulfils the lead-free soldering requirements of the above-mentioned IPC/JEDEC standard, that means reflow
soldering with a peak temperature Tp up to 260◦ C.
9.6 Handling Instructions
Micromechanical sensors are designed to sense acceleration with high accuracy even at low amplitudes and contain
highly sensitive structures inside the sensor element. The MEMS sensor can tolerate mechanical shocks up to several
thousand g. However, these limits might be exceeded in conditions with extreme shock loads such as e.g. hammer blow
on or next to the sensor, dropping of the sensor onto hard surfaces etc.
We recommend to avoid accelerations beyond the specified limits during transport, handling and mounting of the sensors
in a defined and qualified installation process.
This device has built-in protections against high electrostatic discharges or electric fields (e.g. 2kV HBM); however, anti-
static precautions should be taken as for any other CMOS component. Unless otherwise specified, proper operation can
only occur when all terminal voltages are kept within the supply voltage range. Unused inputs must always be tied to a
defined logic voltage level.
9.7 Environmental Safety
The BMI323 meets the requirements of the EC restriction of hazardous substances (RoHS) directive, see also:
RoHS–Directive 2011/65/EU and its amendments, including the amendment 2015/863/EU, on the restriction of the use
of certain hazardous substances in electrical and electronic equipment.
Halogen content The device is halogen-free. For more details on the corresponding analysis results please contact
your Bosch Sensortec representative.
Internal package structure Within the scope of Bosch Sensortec’s ambition to improve its products and secure the
mass product supply, Bosch Sensortec qualifies additional sources (e.g. 2nd source) for the package of the device.
While Bosch Sensortec took care that all of the package parameters as described above are 100% identical for all
sources, there can be differences in the chemical content and the internal structure between the different package
sources.
However, as secured by the extensive product qualification process of Bosch Sensortec, this has no impact to the usage
or to the quality of the device.
10 Legal Disclaimer
i. Engineering samples
Engineering Samples are marked with an asterisk (*), (E) or (e). Samples may vary from the valid technical specifications
of the product series contained in this data sheet. They are therefore not intended or fit for resale to third parties or for
use in end products. Their sole purpose is internal client testing. The testing of an engineering sample may in no way
replace the testing of a product series. Bosch Sensortec assumes no liability for the use of engineering samples. The
Purchaser shall indemnify Bosch Sensortec from all claims arising from the use of engineering samples.
ii. Product use
Bosch Sensortec products are developed for the consumer goods industry. They may only be used within the parameters
of this product data sheet. They are not fit for use in life-sustaining or safety-critical systems. Safety-critical systems are
those for which a malfunction is expected to lead to bodily harm, death or severe property damage. In addition, they
shall not be used directly or indirectly for military purposes (including but not limited to nuclear, chemical or biological
proliferation of weapons or development of missile technology), nuclear power, deep sea or space applications (including
but not limited to satellite technology).
Bosch Sensortec products are released on the basis of the legal and normative requirements relevant to the Bosch
Sensortec product for use in the following geographical target market: BE, BG, DK, DE, EE, FI, FR, GR, IE, IT, HR, LV,
LT, LU, MT, NL, AT, PL, PT, RO, SE, SK, SI, ES, CZ, HU, CY, US, CN, JP, KR, TW. If you need further information or
have further requirements, please contact your local sales contact.
The resale and/or use of Bosch Sensortec products are at the purchaser’s own risk and his own responsibility. The
examination of fitness for the intended use is the sole responsibility of the purchaser.
The purchaser shall indemnify Bosch Sensortec from all third party claims arising from any product use not covered by
the parameters of this product data sheet or not approved by Bosch Sensortec and reimburse Bosch Sensortec for all
costs in connection with such claims.
The purchaser accepts the responsibility to monitor the market for the purchased products, particularly with regard to
product safety, and to inform Bosch Sensortec without delay of all safety-critical incidents.
iii. Application examples and hints
With respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the
application of the device, Bosch Sensortec hereby disclaims any and all warranties and liabilities of any kind, including
without limitation warranties of non-infringement of intellectual property rights or copyrights of any third party. The
information given in this document shall in no event be regarded as a guarantee of conditions or characteristics. They
are provided for illustrative purposes only and no evaluation regarding infringement of intellectual property rights or
copyrights or regarding functionality, performance or error has been made.
11 Document History and Modifications
Table 58 : Change log
Rev No Chapter Description of modification/changes Date

1.0 all Initial release Feb 7th, 2022
1, 5.8.1 Details on target applications
2 Corrected units for accelerometer TCO and ODR accuracy, gyro
ZRO over PCB strain; Conversion factor in gyro non-linearity
5, 7 Align namings of registers and fields with chapter 6
5.5 Information in Table 10 aligned with specification chapter 2
5.6 Added for low-power operation modes the allowed averaging vs
1.1 Sep 15th, 2022
ODR
5.10 Section added for the auto-operation mode change
5.11, 5.12, 5.13, Additional info and explanatory figures for textual descriptions
5.15
6.1.2 Detailing on chip id register content
6.2.2 Replace generic texts by value specific documentation
Provide reserved values used by the sensor API
7.2 Detailing of data transfer with I3C, I²C and SPI
9.1 Added Table “Output value corresponding to device orientation”
Caption for landing pattern figure
Document number updated to BST-BMI323-DS000-07
5.12 Update of sensor internal compensation of offset/sensitivity-error
1.2 6.2 Update of the extended register map following the change in Jan 25th, 2023
Chapter 5.12
5.6.3 Updated minimum increment of the timer per LSB and Table 15
5.7.1 Added Table 17
1.3 June 14th,2023
6.1 Added SENSOR_TIME_0 and SENSOR_TIME_1 register content
Bosch Sensortec GmbH
Gerhard-Kindler-Strasse 9
72770 Reutlingen / Germany
contact@bosch-sensortec.com
www.bosch-sensortec.com
Modifications reserved
Document number: BST-BMI323-DS000-09

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BMI323

Small, versatile 6DoF sensor module

a 16 bit digital, triaxial accelerometer with range configurable to ±2 g, ±4 g, ±8 g, ±16 g

3 Absolute Maximum Ratings 13

4 Quick Start Guide 14

5 Functional Description and Features 21

5.16 Device Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

7 Digital Interfaces 213

8 Pin Out and Connection Diagrams 225

10 Legal Disclaimer 237

11 Document History and Modifications 238

Figure 1 : Device communication test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Figure 45 : Dimensions from bottom view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

Table 1 : Basic electrical parameter specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Table 41 : Serial interface timings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

Table 1 : Basic electrical parameter specification

Table 2 : Operating conditions for the accelerometer

Table 3 : Performance characteristics of the accelerometer

Table 4 : Mechanical characteristics of the accelerometer

Table 5 : Operating conditions for the gyroscope

1 Determined with a sample of 5 devices.

Table 6 : Performance characteristics of the gyroscope

Nonlinearity error SG,NL best fit straight line, 0.15 %

fG,hp , fG,n High performance and 12.5 6400

Table 7 : Mechanical characteristics of the gyroscope

Table 8 provides the temperature sensor related characteristics.

Table 8 : Characteristics of the temperature sensor

2 Determined with a sample of 5 devices.

3 Absolute Maximum Ratings

Table 9 : Absolute maximum ratings

4 Quick Start Guide

Figure 1 : Device communication test

b. Checking the correct initialization status

Figure 2 : Device initialization status test

2. Configuring the device for I3C communication

Figure 3 : Configure the device for I3C communication

3. Configuring the device for low power mode:

Figure 4 : Configure the accelerometer in low power operation mode

4. Configuring the device for normal power mode:

Figure 5 : Configure the accelerometer and gyroscope in normal operation mode

5. Configuring the device for performance mode

5 Functional Description and Features

5.1 System Configurations

5.2 Block Diagram

Figure 7 : Block Diagram

5.3 Supply Voltage and Power Management

The device has two distinct power supplies:

5.4 Power On Reset and Device Initialization

5.5 Power Operation Modes

The main power operation modes of the device are:

Table 10 : Power operation modes

Typical current consumption µA

Suspend mode 0b000 0b000 15

5.6 Sensor Output

Table 11 : Accelerometer group delay in high performance mode

Table 12 : ASIC internal filter settings for low-power operation mode

indirectly by polling the status of the accelerometer data ready in STATUS.drdy_acc, or

Table 13 : Gyroscope group delay in high performance mode

indirectly by polling the status of the gyroscope data ready in STATUS.drdy_gyr, or

5.6.3 Further Sensor Data

Table 14 : Temperature sensor sample rate fT

Table 15 : Resolution and update rate of the sensor time